siap bimbingan artikel

.vscode/tasks.json

@@ -6,7 +6,13 @@
         {
             "label": "Compile thesis",
             "type": "shell",
-            "command": "latexmk -pdf thesis.tex article.tex && latexmk -pdf -c thesis.tex article.tex",
+            "command": "latexmk -pdf -quite thesis.tex article.tex && latexmk -pdf -quite -c thesis.tex article.tex",
+            "problemMatcher": []
+        },
+        {
+            "label": "Compile articel",
+            "type": "shell",
+            "command": "latexmk -pdf article.tex && latexmk -pdf -c article.tex",
             "problemMatcher": []
         }
     ]

BAB1/art_pendahuluan.tex

@@ -0,0 +1,33 @@
+\section{Pendahuluan}
+\lettrine[nindent=0em,lines=3]{K} endali formasi adalah topik penelitian kendali multi-robot untuk memecahkan permasalahan koordinasi pergerakan \kutip{Parker2003}.
+Kendali formasi bertujuan untuk mengendalikan sekelompok robot dalam mencapai formasi tertentu
+dan dapat mempertahankan formasi tersebut ketika bermanuver menuju arah yang diinginkan.
+Pengembangan kendali formasi dilakukan dari berbagai strategi  \kutip{Guanghua2013}, yaitu
+\textit{leader-follower} \kutip{6889491},
+berdasarkan tingkah laku dengan \textit{Fuzzy-Logic} \kutip{ELFERIK2016117}, 
+struktur virtual \kutip{YOSHIOKA20085149}.
+
+Dari berbagai pengembangan tersebut dapat ambil garis besar menjadi 3 bagian \kutip{OH2015424},
+yaitu berdasarkan posisi, perpindahan, dan jarak.
+Ketiga bagian tersebut tertuju pada jawaban dari pertanyaan, "variable apa yang digunakan
+sebagai sensor" dan "variable apa yang aktif dikendalikan oleh sistem multi-robot untuk
+mencapai formasi yang diinginkan". 
+Dikususkan pada kendali formasi berdasarkan jarak, 
+Variable yang dikendalikan pada meteode ini adalah variabel jarak antar agent yang terhubung,
+Koordinat yang digunakan tidak mengacu pada koordinat global.
+Shingga pada penerapannya, formasi berdasarkan jarak menggunakan sensor yang lebih sedikit.
+Namun salah satu permasalahan pada metode tersebut adalah penerapan model yang lebih nyata.
+
+Pengembangan formasi berdasarkan jarak telah dikembangkan menggunakan teori \textit{graph}
+pada single dan double integrator \kutip{Oh2014}
+dan menerapkannya pada simpel model dengan kendali \textit{Proportional-Integral} \kutip{Rozenheck2015}.
+Akan tetapi pada penerapan kendali nya, 
+pengukuran jarak antar tetangga diperoleh dari selisih koordinat global robot dan tetangganya.
+Sedangkan dalam praktiknya robot hanya bisa mengukur jarak dan tidak mengetahui koordinat
+dari robot tetangga.
+
+Pada penelitian ini akan dikembangkan sebuah algoritma untuk mengetahui koordinat tetangga
+berdasarkan informasi sensor jarak sehingga hasil pencarian koordinat tersebut dapat
+digunakan pada kendali formasi berdasarkan jarak. 
+Percobaan akan menggunakan model robot holonomic dengan harapan menjadi langkah awal
+mengembangkan kendali formasi berdasarkan jarak menggunakan model robot yang lebih nyata.

BAB4/DataOutMotion.csv

@@ -1,92 +0,0 @@
-x1,y1,x2,y2,x3,y3,dx1,dy1,dx2,dy2,dx3,dy3,xi1,xi2,xi3,xi4,xi5,xi6,xii1,xii2,xii3
-1.5,1.7,2,2.5,2.5,2.8,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-1.660781058591101,1.868426298368491,1.983628841011567,2.482484860808699,2.410257413075477,2.696504532616002,1.27949252103798,1.240940703645519,-0.1207657640295765,-0.07062913180644501,-0.5345525093964825,-0.6568619543827603,0.1607810585911011,0.1684262983684909,-0.01637115898843293,-0.01751513919130067,-0.08974258692452401,-0.1034954673839971,0.01715695680941148,0.1194518091673519,-0.02212979885273052
-1.762259731920101,1.956881131591067,1.973912175750599,2.481742292588593,2.380894817266495,2.656245782919073,0.8427987905435247,0.6324081649631463,-0.08623766058620347,0.03441983498203231,-0.1329271024764415,-0.2345266492578352,0.2622597319201017,0.2568811315910671,-0.02608782424940144,-0.01825770741140739,-0.1191051827335051,-0.143754217080926,0.00604011529526637,0.1726653286098336,-0.05131223202037664
-1.838469547022209,2.004825469535237,1.965124965200509,2.487274516343183,2.375796656925463,2.641199662048948,0.7044046184110547,0.3499834419124177,-0.09268990031461698,0.07099964517732898,0.01114022853175356,-0.08723167196744439,0.3384695470222104,0.3048254695352389,-0.03487503479948977,-0.01272548365681468,-0.1242033430745345,-0.1588003379510486,-0.01595747132007437,0.2000254898422428,-0.08202892073930465
-1.905988580485155,2.029629565278274,1.954996213516033,2.495297146149982,2.380652951516092,2.636251660376205,0.6549263779241334,0.1542692292730244,-0.1109146721547292,0.08736994013827079,0.07806503709484043,-0.01966309888632983,0.4059885804851556,0.3296295652782739,-0.04500378648396757,-0.004702853850018163,-0.1193470484839077,-0.1637483396237943,-0.04283142101392377,0.2139268556153915,-0.1124370552023408
-1.97068215882013,2.036815265885852,1.94285584562608,2.504426085334621,2.390268545684117,2.636159435036693,0.6430358342107024,-0.006289330103531865,-0.1317869543425331,0.0938265877123021,0.1100506314770363,0.01387005298239905,0.4706821588201304,0.3368152658858526,-0.05714415437392009,0.004426085334621487,-0.1097314543158831,-0.1638405649633064,-0.07112516324777181,0.220076851533171,-0.1415616071410862
-2.035137096485135,2.02914239739211,1.928764372151133,2.513776514869423,2.401996211519521,2.638407693215095,0.647577786322888,-0.1433182125721326,-0.1488784628586073,0.09159135356457898,0.1218239274459562,0.02858538546555384,0.5351370964851362,0.3291423973921101,-0.07123562784886736,0.01377651486942294,-0.09800378848047926,-0.1615923067849057,-0.09806119893991178,0.2219244755982353,-0.1687486420128033
-2.100297740647723,2.008993135682375,1.913417604564352,2.522375254625236,2.414195887429325,2.64143721035699,0.6551531615637975,-0.2548488353646655,-0.1557731787255278,0.07817376067957668,0.1203679775078125,0.02998975388519495,0.6002977406477241,0.3089931356823755,-0.0865823954356483,0.02237525462523534,-0.08580411257067561,-0.1585627896430098,-0.1210348193013338,0.2219724740600713,-0.1935474836709309
-2.16590978313495,1.979230459286916,1.898141742570779,2.528926426760611,2.42579577880791,2.644027644667732,0.6549886477729097,-0.3344933859075956,-0.1466423714158387,0.05015267256017759,0.1106273620839004,0.01999896849152959,0.6659097831349521,0.2792304592869159,-0.1018582574292214,0.02892642676061048,-0.07420422119209134,-0.1559723553322673,-0.1375905117929351,0.2222365081394357,-0.2157159749132793
-2.230764721735275,1.943332831322246,1.884737179259308,2.53186356548038,2.436204091583303,2.645095033547921,0.6390637299681544,-0.3771563562951668,-0.1182160344298147,0.006000839638352892,0.09735258844630791,-0.0002188712785826477,0.7307647217352763,0.2433328313222455,-0.1152628207406924,0.03186356548038001,-0.06379590841669823,-0.1549049664520789,-0.1456950298880029,0.224346467924138,-0.235262212975645
-2.293107580412582,1.904994200463116,1.875076332658073,2.529692709513057,2.445303480447907,2.643717889224215,0.6049020156875001,-0.3841757288656923,-0.07262158453537157,-0.05101843116657841,0.08514746461623829,-0.02836367929340222,0.7931075804125853,0.2049942004631176,-0.1249236673419257,0.02969270951305962,-0.05469651955209161,-0.1562821107757832,-0.1441461422604541,0.2294732323462758,-0.2524644180494394
-2.351265084322334,1.867424484309745,1.870543341685298,2.521489472892765,2.453383177891685,2.639286561702831,0.556523826642131,-0.3635543683203485,-0.01721763799764953,-0.1130812411226385,0.0773502839404149,-0.0605414496251688,0.8512650843223356,0.1674244843097451,-0.1294566583147017,0.02148947289276597,-0.04661682210831591,-0.1607134382971687,-0.1328647322887049,0.2382251703558427,-0.2678251878629865
-2.40422062096104,1.832831000295771,1.871634953898417,2.507222959135171,2.460963145303663,2.631632719405903,0.5023898029832853,-0.32641590304605,0.03832384201800614,-0.1708400957707605,0.07517236822721747,-0.09205048766451078,0.9042206209610409,0.1328310002957696,-0.1283650461015843,0.00722295913516853,-0.03903685469633995,-0.1683672805941,-0.1128508122354095,0.2506371841638513,-0.2819572068801361
-2.451839446122638,1.802385801681142,1.877948395625003,2.487701516422378,2.468580996884804,2.621035984296844,0.4510101176747419,-0.2817168593338545,0.08623931087967142,-0.2173546791223866,0.07786708794057084,-0.1188377476264057,0.9518394461226404,0.1023858016811425,-0.1220516043749963,-0.01229848357762167,-0.03141900311519721,-0.1789640157031548,-0.08581288629999599,0.2662858300529162,-0.2954477625860872
-2.494702388349058,1.776592969218025,1.888498657774217,2.464228084180214,2.476641009386172,2.608110163680984,0.4078990005667126,-0.2337936133977273,0.1227562924106323,-0.2497110206954035,0.0836926882042644,-0.1383315122878398,0.9947023883490604,0.07659296921802582,-0.1115013422257823,-0.03577191581978466,-0.02335899061382852,-0.1918898363190153,-0.05369330657472807,0.2844666249624269,-0.3087606282870949
-2.533766582261464,1.755720725170628,1.902108925179787,2.438222475117296,2.485362959434811,2.593651946130923,0.3751505645375184,-0.1832135629391838,0.1476025893388289,-0.2682351802134399,0.09082725221082577,-0.1493905971559253,1.033766582261467,0.05572072517062868,-0.0978910748202118,-0.06177752488270234,-0.01463704056519005,-0.2063480538690753,-0.01831000822382698,0.3043495232479928,-0.3222000049051049
-2.570072537105451,1.74007045149961,1.917684302526492,2.41097696247053,2.494801329062245,2.57851967953079,0.3525731503864978,-0.1290425587362336,0.1624188862174434,-0.2748960335144426,0.09782175340802286,-0.1518392998907262,1.070072537105454,0.04007045149961037,-0.08231569747350755,-0.08902303752946938,-0.005198670937756182,-0.2214803204692102,0.01881527327786366,0.3250761831219551,-0.3359227825912079
-2.604578248601871,1.730053957366577,1.934333610271562,2.383557537924779,2.50488939793239,2.563557838453903,0.3388941516941741,-0.07044463444138284,0.1694624817311579,-0.272115400348435,0.1036914983324351,-0.1460829883600272,1.104578248601873,0.03005395736657779,-0.0656663897284377,-0.1164424620752207,0.004889397932388082,-0.2364421615460964,0.05649035203740642,0.3458088433831479,-0.3499724285405564
-2.638096041900457,1.726150928589636,1.951390867933503,2.356791792142694,2.515480917099257,2.549551520128997,0.3325565023734965,-0.00680108240834919,0.1709176362414607,-0.2621871441767688,0.1078092915129122,-0.1328832637802534,1.138096041900459,0.02615092858963621,-0.04860913206649638,-0.1432082078573055,0.01548091709925522,-0.250448479871003,0.09382166265157382,0.365754424569205,-0.3643150079403401
-2.671284406060851,1.72884637776423,1.968393726575278,2.331290082218291,2.526379842042906,2.537194352716788,0.3320695157175707,0.0614042958535926,0.1686605854573577,-0.2471509385175747,0.1097895827521229,-0.1132970497990029,1.171284406060852,0.02884637776422945,-0.0316062734247226,-0.1687099177817088,0.02637984204290236,-0.2628056472832114,0.1301698809015888,0.38418139695187,-0.3788690580194281
-2.704660019855323,1.738552944700538,1.98505245857038,2.307472063231872,2.537359317100769,2.527061451203732,0.3360884838009778,0.1332493764657643,0.1642833014890786,-0.2287976258993013,0.1093851066715289,-0.08864152951274284,1.204660019855325,0.03855294470053872,-0.01494754142961991,-0.1925279367681273,0.03735931710076668,-0.2729385487962666,0.1651135273278578,0.4004359815672134,-0.3935282895807106
-2.738611064059449,1.755559234951561,2.001225094475728,2.285590335269279,2.548173226304274,2.519585389018744,0.3433764955452875,0.2071688936600173,0.1591653102562715,-0.2086796832804046,0.1064532472376769,-0.06044343143855196,1.238611064059451,0.05555923495156104,0.001225094475728316,-0.2144096647307198,0.04817322630427145,-0.2804146109812555,0.1984258735695534,0.4139599362125211,-0.4081789157909763
-2.77340467601566,1.779984179819062,2.016901148840374,2.26575337221622,2.558565013006697,2.515037592657472,0.3527336954901281,0.2812908199912352,0.1545679079680994,-0.1881171211102408,0.1009325625110312,-0.03038477676342065,1.273404676015662,0.07998417981906224,0.01690114884037406,-0.2342466277837795,0.05856501300669399,-0.2849624073425271,0.2300619698237067,0.4243090328808284,-0.4227139128928903
-2.809186617068525,1.811743998165812,2.032192988311447,2.24795063841138,2.568276644342102,2.513516591693353,0.3629328127611396,0.3534183539974736,0.1516641926583976,-0.1681238000603184,0.09287722414285646,-0.0001814577651574616,1.309186617068527,0.1117439981658121,0.03219298831144609,-0.2520493615886195,0.06827664434209882,-0.2864834083066455,0.2601505910057543,0.4311716556711777,-0.4370459536906381
-2.845975184237497,1.850520444099395,2.047328883205842,2.232085357889904,2.577061647981052,2.514948148119073,0.3726425685675983,0.4211506051848416,0.1516170630206246,-0.1494325101729662,0.08245561104264816,0.02841244107728834,1.345975184237498,0.1505204440993941,0.0473288832058406,-0.2679146421100953,0.07706164798104735,-0.2850518518809265,0.2889847901737335,0.4343864348322975,-0.4511199807695532
-2.883651879038225,1.895733743754706,2.062645387223296,2.218011559806733,2.584702063596359,2.519094534531684,0.3804432522582391,0.4816501759724943,0.1554444476751909,-0.1323102430340517,0.07006950405497117,0.05386678206008349,1.383651879038227,0.1957337437547058,0.06264538722329564,-0.2819884401932659,0.08470206359635619,-0.2809054654683145,0.317005026544105,0.4339577857944565,-0.464925268603198
-2.92195538564441,1.946509636599804,2.078569736311882,2.205577625498179,2.591032065835913,2.525579791659124,0.3849602532067273,0.5318845799826202,0.1638600936090598,-0.1165709656557193,0.05637976563439296,0.07503663534343682,1.421955385644412,0.246509636599804,0.07856973631188223,-0.2944223745018197,0.09103206583591031,-0.2744202083408732,0.3447687747311845,0.4300667706596291,-0.4785058449112565
-2.960490089825631,2.001655574155274,2.095584278320254,2.194667996104088,2.595965015732727,2.533932307978861,0.3849138300021875,0.5685452244188511,0.1772265406964591,-0.10170808785589,0.04230359613423543,0.09116701809104853,1.460490089825633,0.3016555741552735,0.09558427832025421,-0.3053320038959103,0.0959650157327232,-0.2660676920211361,0.3729023375296288,0.4230738567206008,-0.4919669256052465
-2.998753155846213,2.059648021261794,2.114174618064601,2.185230570024621,2.599518238739269,2.543637672272083,0.3794580515032402,0.588333425630316,0.195247354229598,-0.08701205220423917,0.02898336022181799,0.1021382781817263,1.498753155846215,0.3596480212617945,0.1141746180646012,-0.3147694299753777,0.09951823873926574,-0.2563623277279145,0.4020341695604514,0.4135089891581437,-0.5054740429991457
-3.036190054624462,2.118650080859972,2.134758668131584,2.177281122787308,2.601828445765452,2.554201400715274,0.368412993244648,0.5882742756758103,0.2168795612019886,-0.07187711576513429,0.017641954188501,0.10845116437554,1.536190054624464,0.4186500808599717,0.134758668131584,-0.3227188772126903,0.101828445765449,-0.2457985992847236,0.4327144662523341,0.4020447609761811,-0.5192418304078505
-3.072271947063671,2.176569548015281,2.157611569246196,2.170876610039842,2.603149429479905,2.565206990824712,0.3525380618838331,0.5664136929718951,0.2402853122923667,-0.05613442585011343,0.009357819519228424,0.1111696971275078,1.572271947063673,0.4765695480152811,0.1576115692461954,-0.3291233899601568,0.1031494294799007,-0.2347930091752863,0.4653331946335824,0.3894513356002042,-0.5335108777450837
-3.106584821985636,2.231174798261047,2.182801148777547,2.166060186104839,2.603827467870812,2.576358055052934,0.3333290253196498,0.5219586747253747,0.2632270579701466,-0.04024498094200614,0.004872736668308304,0.1115789535394541,1.606584821985639,0.5311747982610471,0.1828011487775471,-0.3339398138951587,0.1038274678708084,-0.2236419449470634,0.5000538576499597,0.3765371555451539,-0.5485144993327086
-3.138897590913689,2.280243908722091,2.210161619522756,2.162795560796657,2.604259530679158,2.58748848859643,0.3128931312547205,0.4559769388639053,0.2833401642279034,-0.0253229397928792,0.00444409076459211,0.1109408290459207,1.638897590913692,0.5802439087220918,0.2101616195227552,-0.3372044392033418,0.1042595306791552,-0.2125115114035673,0.5367809493228882,0.3640857560622837,-0.5644409637744368
-3.169193176722448,2.32174020525513,2.239309857124163,2.160913857153086,2.604845913331882,2.598541257359479,0.2933056766291184,0.3710562327813879,0.2987187803664048,-0.01284274820559332,0.00790243439275707,0.1101300327439002,1.669193176722453,0.621740205255132,0.2393098571241648,-0.3390861428469107,0.1048459133318816,-0.2014587426405161,0.5751710985013905,0.3528030436359569,-0.5813996416352082
-3.197643052510718,2.353963583991709,2.269706397327022,2.160096532407688,2.605954700811479,2.60952038305703,0.2761901856421417,0.2713166493640295,0.30817764309991,-0.004251163213919363,0.01480950546622994,0.109472450368261,1.697643052510723,0.6539635839917083,0.2697063973270226,-0.3399034675923107,0.1059547008114764,-0.1904796169429678,0.6146861494968784,0.3432878710841559,-0.5993989566527943
-3.224538322167062,2.375668357582127,2.300737641780525,2.159900658226716,2.607908481289479,2.620432393453012,0.2622571715077007,0.1615546540621648,0.3114289788213743,-0.0005240300549929132,0.0247425632065946,0.1086975753493097,1.724538322167065,0.6756683575821268,0.3007376417805264,-0.3400993417732833,0.1079084812894766,-0.1795676065469852,0.6546739515251784,0.3360315266202324,-0.6183408753773358
-3.250194772915798,2.386120516157698,2.331799054590354,2.1598193468439,2.61099609702811,2.631230909220332,0.251302453121218,0.04715698867805408,0.3089053592573633,-0.001941846090357177,0.03747321582178053,0.1070414325500572,1.750194772915802,0.686120516157698,0.331799054590355,-0.3401806531560999,0.1109960970281073,-0.1687690907796658,0.6944575897480944,0.331441639083496,-0.6380320161105486
-3.274864333695392,2.385121613466239,2.362357775541447,2.159355736341926,2.615498572779254,2.641774139531885,0.242298801389834,-0.0665858020281863,0.3015611679259833,-0.008036491118430054,0.05307430771791583,0.1033829263875558,1.774864333695396,0.6851216134662388,0.3623577755414469,-0.3406442636580733,0.1154985727792526,-0.1582258604681128,0.7334152032462484,0.329877648316391,-0.6582081174266013
-3.298671752396628,2.372999034330106,2.391990115374429,2.15809029892144,2.62171494327,2.651798134105376,0.233801343602222,-0.1744720892918102,0.2905853997699072,-0.01776968381362874,0.07180171549648807,0.09643368279549987,1.798671752396633,0.672999034330106,0.39199011537443,-0.3419097010785593,0.1217149432699974,-0.1482018658946218,0.7710397829803204,0.3316812659391356,-0.6785671963198316
-3.32159272041415,2.350585615827409,2.420395065182469,2.155725061347745,2.629970619254391,2.660908829822049,0.2243620606784669,-0.2716435682683553,0.2772125073683404,-0.02980596989471647,0.09386900449250518,0.08493270660724915,1.821592720414154,0.6505856158274086,0.4203950651824694,-0.3442749386522542,0.1299706192543883,-0.1390911701779487,0.8069750333143759,0.3371871285296011,-0.6988069128729345
-3.343476043775523,2.31918275120762,2.44739186721462,2.152098149341424,2.640597645581161,2.668597523605194,0.2129494594150184,-0.3536339891703756,0.2625989970568286,-0.04280402814771171,0.1191511604097213,0.06789099500843561,1.843476043775527,0.6191827512076197,0.4473918672146205,-0.3479018506585752,0.1405976455811584,-0.1314024763948035,0.8410284115488291,0.3467051708345686,-0.7186618085031773
-3.364104227845038,2.280503300913477,2.472908360525596,2.147170536155354,2.653885770840314,2.67428579111622,0.1992860519772796,-0.4166269593526585,0.2477598726952005,-0.05566657192251639,0.1469106660601112,0.04492898522555267,1.864104227845042,0.5805033009134766,0.4729083605255966,-0.3528294638446455,0.1538857708403107,-0.1257142088837781,0.8731644707567732,0.3604757625350791,-0.7379354932049256
-3.383277441096969,2.236585139085601,2.496964313727556,2.140993605456308,2.670015150838209,2.677402446472297,0.1840010307233665,-0.4579550752340159,0.2335173663422249,-0.06769418491664685,0.1756960958654494,0.01660960802993253,1.883277441096973,0.5365851390856008,0.4969643137275571,-0.3590063945436908,0.1700151508382063,-0.1225975535277012,0.9034823143542431,0.3786088706446509,-0.7565220190355867
-3.40089808331367,2.189670035145756,2.519650950920419,2.133669870933754,2.688992254469314,2.677483964996143,0.1685098033440814,-0.476449426935693,0.2204544073647082,-0.07857260768922275,0.2035091116082321,-0.01542515054707571,1.900898083313673,0.4896700351457565,0.5196509509204205,-0.3663301290662448,0.188992254469312,-0.1225160350038547,0.9321814221050839,0.401025867054991,-0.7744111727613558
-3.41703178902341,2.142056066902576,2.541106697959776,2.125320157223898,2.710613114010585,2.674276148133541,0.1545869980625412,-0.4721873565167528,0.2089269143487555,-0.08822044717135274,0.2282191653208003,-0.04868252682027618,1.917031789023414,0.4420560669025767,0.5411066979597785,-0.3746798427761002,0.2106131140105834,-0.1257238518664561,0.9595208863297441,0.427423289364937,-0.7916755019651902
-3.431924853948112,2.095959068473626,2.561492576798407,2.116067008783925,2.734470504332371,2.667804884761433,0.1439632599593931,-0.4465301791169087,0.1990516542237558,-0.09664418914008598,0.2479788438361249,-0.08017919803026315,1.931924853948116,0.3959590684736267,0.5614925767984086,-0.3839329912160738,0.2344705043323694,-0.1321951152385644,0.9857781101756242,0.4572710354456519,-0.808442001298156
-3.445978302304961,2.053399232965966,2.580970352383256,2.106034310897703,2.760001728699959,2.658396754337629,0.1379542829016413,-0.4018874117503266,0.1907425714381709,-0.1037907382029202,0.2615585076831896,-0.1069755299485935,1.945978302304965,0.3533992329659673,0.5809703523832577,-0.3939656891022962,0.260001728699958,-0.1416032456623684,1.011213167252936,0.4898452177251453,-0.8248562879255439
-3.459691758375277,2.016125883582066,2.599687534186768,2.095357562266799,2.786559745673526,2.646645764891946,0.1372086590263909,-0.3412828141111268,0.183810114237368,-0.109483190318698,0.2684991153254127,-0.1267193291836435,1.95969175837528,0.3161258835820667,0.5996875341867701,-0.4046424377331998,0.286559745673524,-0.1533542351080515,1.036044125083245,0.5242856427778452,-0.8410487923999357
-3.473595194473384,1.985580256723382,2.617772426426638,2.084195741400226,2.813486370919648,2.63333788920786,0.1416951814423419,-0.2678456651787664,0.1780745488900493,-0.1134405831562772,0.26901160623274,-0.1379558219488126,1.973595194473388,0.2855802567233834,0.6177724264266391,-0.4158042585997728,0.3134863709196464,-0.1666621107921377,1.060436615260452,0.5596635996300887,-0.8571104325338244
-3.488186054812595,1.962890728881032,2.635339530689774,2.072737597491229,2.840169750721512,2.619355343021823,0.1508192306401799,-0.1846574665493454,0.173454031185981,-0.1153625153504733,0.263772442973487,-0.1402148233036544,1.988186054812598,0.2628907288810324,0.6353395306897746,-0.4272624025087706,0.3401697507215112,-0.1806446569781747,1.084508193785632,0.595047473431938,-0.8730810430828622
-3.503881061943152,1.948883020340669,2.652502796971453,2.061199244659365,2.866079304501954,2.60558098510139,0.1635895230027299,-0.09464807137866235,0.1700265957936972,-0.1150133925792419,0.2536948733465182,-0.1339285403949013,2.003881061943156,0.2488830203406687,0.652502796971453,-0.4388007553406349,0.3660793045019526,-0.194419014898608,1.108345366694852,0.6295586438450838,-0.8889498542807894
-3.520984533310524,1.944095420363323,2.669393161764849,2.049814753013949,2.890779870175777,2.592816554831219,0.1787706772984772,-0.0006578658525981632,0.1680547439355978,-0.112274637953978,0.2397517762125966,-0.1202553514068541,2.020984533310528,0.2440954203633231,0.6693931617648501,-0.4501852469860509,0.390779870175775,-0.2071834451687788,1.13202912479957,0.662415235382346,-0.9046650192818025
-3.539670383663255,1.94878906446136,2.68617647748539,2.038824141945717,2.913931772317697,2.581721246007071,0.1950061168542391,0.09451835096937257,0.1679687690988453,-0.1071426754823245,0.2228694336108297,-0.1008511460972296,2.039670383663259,0.2487890644613605,0.6861764774853902,-0.4611758580542812,0.4139317723176958,-0.2182787539929263,1.155663627265215,0.6929645103717861,-0.9201487063929517
-3.559973957363712,1.962948903327436,2.703068114060747,2.028463889859867,2.935284388261741,2.572772545113123,0.2109112312207032,0.1881377937102394,0.1703035508887438,-0.09968199462868423,0.2038975752397436,-0.07763153074753089,2.059973957363716,0.2629489033274362,0.7030681140607467,-0.4715361101401311,0.4352843882617395,-0.2272274548868742,1.179402250506313,0.7207060440177899,-0.9353148559053417
-3.581792444213112,1.986276441257166,2.720339389587917,2.018963498199515,2.954669301619282,2.566250632107618,0.2250492957969986,0.2774129945060009,0.175676009911228,-0.08994911960398978,0.1836560039502348,-0.05268819373049171,2.081792444213117,0.2862764412571662,0.7203393895879159,-0.4810365018004826,0.4546693016192817,-0.2337493678923782,1.203465297099377,0.7453076653818796,-0.9500875398520995
-3.604887911879067,2.018178909198658,2.738316369806629,2.010549268924076,2.971998470378239,2.562237264747246,0.2362438983351029,0.3591210199579902,0.1844859432131218,-0.07795042150034932,0.1629213338008745,-0.02776387261496147,2.104887911879071,0.3181789091986584,0.7383163698066282,-0.4894507310759222,0.4719984703782382,-0.2377627352527505,1.228144516690476,0.7666154209377741,-0.9644181668455858
-3.62890704337976,2.057744480074973,2.757359199299332,2.003451526827296,2.987265158219044,2.56064334086307,0.2433901789505788,0.4301222833892144,0.1969854102249344,-0.06360393951739095,0.142546364104403,-0.004503097028958646,2.128907043379764,0.3577444800749736,0.7573591992993304,-0.4965484731727022,0.4872651582190438,-0.2393566591369258,1.253790077609848,0.7846563814133668,-0.9783001209710431
-3.653407343051411,2.103734602100417,2.777830342640301,1.997910013814814,3.000549487398219,2.561243513633204,0.245793111177698,0.4870636911247564,0.2129755312115245,-0.04681540856824802,0.1234249999219197,0.0159784733676516,2.153407343051415,0.4037346021004178,0.7778303426402997,-0.5020899861851851,0.5005494873982184,-0.2387564863667929,1.280778872548645,0.799633422863364,-0.9917784122699278
-3.677902304765874,2.154584715562095,2.800046200073847,1.994168745092278,3.012021654852709,2.563727327241244,0.2433138212786473,0.5268406429817145,0.2317058082411223,-0.02762804245587994,0.1064466117846696,0.03312376654701323,2.177902304765877,0.4545847155620956,0.8000462000738467,-0.5058312549077209,0.5120216548527089,-0.2362726727587525,1.309465565262339,0.8119086999862117,-1.004952129754864
-3.70192234578804,2.208439474981598,2.824220574871257,1.992453259502974,3.02193753098569,2.567754958443633,0.2364123935324657,0.5467095258960722,0.2518995067107591,-0.006386178157449179,0.09242784887966146,0.04687790319445148,2.201922345788044,0.5084394749815982,0.8242205748712575,-0.5075467404970243,0.521937530985689,-0.2322450415563636,1.340122902455958,0.8219740832521913,-1.017967504954418
-3.725080023623021,2.263217063373359,2.850414393809024,1.992930699125739,3.030623722341283,2.573005696944964,0.2263092350623096,0.5450915863134024,0.2717793400668904,0.0160464563335136,0.08192558950178538,0.05767970195535828,2.225080023623025,0.5632170633733597,0.8504143938090242,-0.5070693008742591,0.5306237223412813,-0.2269943030550323,1.372882513588606,0.8304086755208283,-1.031000852613795
-3.747132937013551,2.316722197396414,2.878501604584217,1.995657245251508,3.038448773191932,2.579213490281431,0.2146520780628854,0.5213896072449915,0.2894334600725962,0.03831682104986461,0.07520394855917351,0.06614543957076305,2.247132937013555,0.6167221973964147,0.8785016045842186,-0.5043427547484902,0.5384487731919307,-0.2207865097185651,1.407689318546439,0.8378271925031583,-1.044233356796881
-3.768019856201676,2.36677521717289,2.908167808015639,2.000531253237239,3.045788403075705,2.586177622107087,0.2033062104613476,0.4763453933656207,0.3030919563220084,0.05868311200309263,0.07216754739787719,0.07290258717843691,2.26801985620168,0.6667752171728909,0.9081678080156391,-0.4994687467627584,0.5457884030757045,-0.2138223778929081,1.444281874435158,0.84482689369107,-1.057822181796837
-3.78786265535079,2.411345843832152,2.938941544000763,2.007268046220098,3.052992288417451,2.593751816870128,0.1940060446239556,0.4120915551370495,0.3114209845466334,0.07528268307719752,0.072415816788882,0.07838850414369343,2.287862655350793,0.7113458438321527,0.9389415440007626,-0.4927319537798999,0.5529922884174495,-0.206248183129868,1.482204409621363,0.8519428421199366,-1.071874283735903
-3.806932350179287,2.448668911866845,2.970250286702057,2.015407788072133,3.060362029708963,2.601818137278548,0.1879843090521753,0.3318980824496621,0.3137371447511559,0.08651946865312075,0.0753994270962017,0.08273773455051633,2.306932350179291,0.7486689118668458,0.9702502867020574,-0.4845922119278646,0.5603620297089617,-0.1981818627214486,1.520848181157853,0.8596202647713302,-1.086428804548481
-3.825587665929479,2.477329125904433,3.001486937615912,2.024358257651383,3.068146090471295,2.610256480008174,0.1857451076928057,0.2394889994404544,0.3100240737615217,0.09138532262005707,0.08063063641866682,0.08578226421221602,2.325587665929483,0.777329125904434,1.001486937615912,-0.4756417423486139,0.5681460904712939,-0.1897435199918223,1.559512758571721,0.8682086245778399,-1.101451496172539
-3.844201327738578,2.496301240764071,3.032070956244395,2.033462805158774,3.076552376212145,2.618919079824009,0.187062724096926,0.1388550470338867,0.3008053802221378,0.08962039929962257,0.08781155143378429,0.08715133443838688,2.344201327738582,0.7963012407640714,1.032070956244394,-0.466537194841223,0.5765523762121441,-0.1810809201759867,1.597474899264083,0.8779762756676655,-1.116841395713731
-3.863091201635092,2.504962015175099,3.061493613222474,2.042077039571037,3.08577184030238,2.627615258016746,0.1910896532038314,0.03397699098708482,0.2869627322806794,0.08171797330630978,0.09690800792896853,0.08637361706882946,2.363091201635096,0.8049620151751004,1.061493613222473,-0.4579229604289598,0.5857718403023793,-0.1723847419832495,1.63405373167103,0.8891394718191125,-1.132447378599717
-3.882467121060985,2.503084348095468,3.08934492067001,2.049638540196481,3.096004727102036,2.636105655207137,0.1965441295807266,-0.0712742177592135,0.2695654747429099,0.06879421824180874,0.1081324254070599,0.08295230786774055,2.382467121060989,0.8030843480954697,1.089344920670009,-0.4503614598035158,0.5960047271020349,-0.1638943447928591,1.668665058730921,0.9018964860167683,-1.14809099132044
-3.902398374638643,2.490825225957214,3.115325873725968,2.05571853595876,3.107480842659266,2.644102062480252,0.2019695850505727,-0.1730132047913718,0.2497369113732713,0.05233678982178911,0.1218180671578575,0.07643811736761445,2.402398374638647,0.7908252259572156,1.115325873725968,-0.4442814640412361,0.6074808426592649,-0.155897937519744,1.700861729803956,0.9164570119299981,-1.163591980990494
-3.922806241926436,2.46872119174339,3.139250756303115,2.060047276337606,3.120464713200231,2.651272129847185,0.2058392389742741,-0.2675620789404313,0.2286336679149487,0.03404798627347165,0.138335086955884,0.06635389617729015,2.422806241926439,0.7687211917433918,1.139250756303116,-0.4399527236623909,0.6204647132002306,-0.1487278701528105,1.730359546177311,0.9330582445707009,-1.178793546751582
-3.943474677112617,2.437679705470629,3.161046879651825,2.062517426839045,3.135245162871534,2.657243931305006,0.2070025507247548,-0.3511733259857545,0.2073458955106781,0.01540744612870968,0.1577438731654892,0.05242273489851117,2.443474677112621,0.7376797054706308,1.161046879651825,-0.4374825731609508,0.6352451628715332,-0.1427560686949888,1.757049669362539,0.9519620426232335,-1.193584452743808
-3.964088980018234,2.398972247792485,3.180749974628293,2.063159457978717,3.152101250469233,2.661622418112469,0.2046746775335679,-0.4202922856660727,0.1869463247268527,-0.002343301946450316,0.1797565368701295,0.03448721163074736,2.464088980018238,0.6989722477924872,1.180749974628293,-0.4368405420212793,0.6521012504692316,-0.1383775818875277,1.780997253593225,0.97343082685903,-1.207915509284057
-3.98428877563285,2.354210438442071,3.198497885568023,2.062104262690988,3.171255596029766,2.664014821819411,0.1987527348263413,-0.4717843722886824,0.1683893260687256,-0.01844952289151985,0.2035215910217364,0.01277683333065334,2.484288775632854,0.6542104384420737,1.198497885568023,-0.4378957373090087,0.6712555960297663,-0.1359851781805851,1.802426541621401,0.9976854044859635,-1.221807270249968
-4.003736946969026,2.305293360732214,3.214516460510206,2.059535745748209,3.192819557751246,2.664074471869646,0.1897953931755194,-0.5030442576160639,0.1524711722912106,-0.0325941037455514,0.2276840911771504,-0.01199950739305554,2.50373694696903,0.605293360732216,1.214516460510205,-0.4404642542517864,0.6928195577512463,-0.1359255281303501,1.821692089387695,1.024852294484122,-1.235346720415111
-4.022187184922084,2.254328207989068,3.229097441882701,2.055648478258567,3.216747791448844,2.661556236919863,0.1790353582119577,-0.5125572637583852,0.1396996303370055,-0.04485592116682949,0.2505035636484174,-0.03851561137427211,2.522187184922088,0.5543282079890698,1.229097441882699,-0.4443515217414286,0.716747791448844,-0.1384437630801341,1.839237830307045,1.054912786127268,-1.248672045357258
-4.039539058759098,2.203516926120701,3.242567180529252,2.05061802251816,3.242814466038717,2.656375359981078,0.1681106856469499,-0.4999537511916018,0.1302535637050621,-0.05550440593594896,0.2701630881122797,-0.06491268149013558,2.539539058759102,0.5035169261207024,1.242567180529251,-0.4493819774818356,0.7428144660387178,-0.1436246400189183,1.855548214714899,1.087666562036605,-1.261947522688867
-4.055863860497521,2.155033316798471,3.255252544720628,2.044591235387763,3.270621510148392,2.648651691667202,0.1587805805521741,-0.466315101409026,0.123954296087361,-0.06482229984352994,0.2850821346934567,-0.08899220496013499,2.555863860497525,0.455033316798474,1.255252544720627,-0.4554087646122322,0.7706215101483929,-0.1513483083327932,1.871098547377143,1.122720166487966,-1.275333357556363
-4.071397419871865,2.110895723660532,3.267449978544909,2.037694071463495,3.29963673875994,2.638726152446815,0.1525059000166246,-0.4135438726808173,0.1204031949713466,-0.07291910984852541,0.2941984777052828,-0.1086054400711803,2.571397419871868,0.4108957236605344,1.267449978544908,-0.4623059285365003,0.7996367387599407,-0.1612738475531804,1.886312949384033,1.159503663286492,-1.288957079998415
-4.086499421676609,2.072875155066856,3.279407641823645,2.03005116446676,3.329252395951031,2.627139535362423,0.150257704032751,-0.3445283424043687,0.1190701136431566,-0.07970498057150149,0.2970712027603178,-0.1219671588576669,2.586499421676612,0.3728751550668586,1.279407641823644,-0.4699488355332359,0.8292523959510311,-0.1728604646375737,1.901537428214053,1.197312104145266,-1.302892506944902
-4.101594296385295,2.042429166095487,3.291322188097341,2.021805919044992,3.358847486290501,2.614579313760438,0.1523588559838559,-0.2626133169739666,0.1194756032341028,-0.08490955816383974,0.2938568942364958,-0.1279587648626034,2.601594296385298,0.3424291660954878,1.291322188097339,-0.4781940809550049,0.8588474862905007,-0.1854206862395593,1.917032080919443,1.235362328045209,-1.317149938318213
-4.11710631106508,2.020671767662394,3.30335064729729,2.013134044462466,3.387840801252116,2.601804977159216,0.1584991664568214,-0.1712930989409336,0.1213208252146422,-0.08817514515681295,0.2851645789703989,-0.1262650995084185,2.617106311065081,0.3206717676623949,1.303350647297287,-0.4868659555375323,0.8878408012521152,-0.1981950228407828,1.932982114082289,1.272854608795853,-1.331677969413676
-4.133401525605214,2.008368838378795,3.315632468468392,2.004247175947982,3.415726920263388,2.589567436791701,0.167848921833276,-0.07402595833858051,0.1245579373740443,-0.08915478567869566,0.2718718116864356,-0.1173601429031501,2.633401525605214,0.3083688383787965,1.31563246846839,-0.4957528240520148,0.9157269202633866,-0.2104325632082968,1.949523348726456,1.309030294079407,-1.346374820600433
-4.150743599368607,2.005947383400791,3.328315259103847,1.995388363976549,3.442094664719485,2.578536084566435,0.179216337585993,0.02578203259991556,0.1293933925555549,-0.08757558529719993,0.2549639229652754,-0.10237402947579,2.650743599368609,0.3059473834007921,1.328315259103845,-0.5046116360234474,0.9420946647194842,-0.2214639154335633,1.966775359592528,1.343220191057941,-1.361105933730344
-4.169265524653733,2.013503612797058,3.34157779075354,1.986823969478043,3.466632358913058,2.569242788862552,0.1912084370403243,0.124952604068948,0.1362287397081045,-0.08324219134099195,0.2354323394306954,-0.08288475284094156,2.669265524653735,0.3135036127970594,1.341577790753539,-0.5131760305219547,0.9666323589130569,-0.2307572111374465,1.984874510946584,1.374881810613992,-1.375724678258532
-4.188956905238912,2.030810473169094,3.355644461651835,1.978836791683299,3.489126088862305,2.562048145731739,0.20234751559301,0.2202875442798587,0.1455688817420957,-0.07600175618990772,0.2142498616750072,-0.06072913040223564,2.688956905238913,0.3308104731690958,1.355644461651833,-0.5211632083166975,0.9891260888623042,-0.2379518542682593,2.003999509257336,1.40362590367774,-1.39009368673493
-4.209663940165209,2.057317124933638,3.370787779278382,1.971723335617445,3.509457235967408,2.557129074630046,0.2112914003263527,0.3083625655001147,0.1578302112253925,-0.06574043030133023,0.1923422689488478,-0.03768062554410785,2.709663940165209,0.3573171249336403,1.370787779278381,-0.5282766643825514,1.009457235967408,-0.2428709253699521,2.024383333727757,1.429233233439459,-1.404104875344341
-4.231106045453381,2.092136315717746,3.387313596794037,1.965792480217263,3.527600618857807,2.554491033031606,0.2168975674109248,0.3859550208733707,0.1732180620885398,-0.05233811504505712,0.1706467500532932,-0.01533327384281924,2.731106045453382,0.3921363157177473,1.387313596794036,-0.5342075197827334,1.027600618857807,-0.2455089669683918,2.046307054485994,1.451661727338853,-1.417696460145755
-4.252906788404806,2.134046446402236,3.405529817944287,1.961362128220061,3.543624854187967,2.553998152981262,0.2183915568628345,0.4496457383434783,0.1915597709443029,-0.03573835445646562,0.1501104272630359,0.005072709654020296,2.752906788404807,0.4340464464022384,1.405529817944286,-0.5386378717799359,1.043624854187966,-0.2460018470187359,2.070073898697054,1.471043740144368,-1.43086481269621
-4.274640604429979,2.181498364333359,3.425700763039616,1.958746383975691,3.557691273828668,2.555417002732525,0.2155704875000399,0.4962736840850481,0.2121536989928651,-0.01609272504688084,0.1316378194648663,0.02282104285666631,2.774640604429979,0.4814983643333607,1.425700763039616,-0.5412536160243058,1.057691273828668,-0.2445829972674737,2.095965539196463,1.487671582448404,-1.443668775493195
-4.295893553206928,2.232650543251788,3.447993672282453,1.958227392545702,3.57004666538178,2.558467832457725,0.2089100276482159,0.5232873633527287,0.2337496813418919,0.006069818060728193,0.116003422131741,0.03772024692330385,2.795893553206928,0.5326505432517902,1.447993672282453,-0.5417726074542948,1.07004666538178,-0.2415321675422736,2.124187048892203,1.501970138680726,-1.456224322396915

BAB4/art_metode.tex

@@ -1,108 +1,184 @@
 
+\section{Metode}
 
-Penentuan koordinat tentangga dapat ditemukan dengang mengubah koordinat polar menjadi koordinat kartesian.
-Koordinat polar membutuhkan panjang $d_a$, dan sudut $\alpha$.
-Panjang $d_a$ adalah variable yang didapat dari sensor yang memberikan nilai jarak dari robot $A$ ke robot $B$,
-akan tetapi untuk mendapatkan koordinat polar, pengukuran sudu $\alpha$ tidak tersedia.
-Algoritama yang ditawarkan memanfaatkan hukum \textit{cosinus} pada segitiga untuk mendapatkan sudut tersebut.
+\subsection{Kendali Robot Holonomic}
 
-\begin{figure}
-  \centering
-  \includegraphics[scale=.5]{BAB3/img/estimate_coordinate.png}
-  \caption{Strategi Penentuan Koordinat}
-  \label{fig:strategiPenentuanKoordinat}
-\end{figure}
-
-Dapat diperhatikan pada gambar~\ref{fig:strategiPenentuanKoordinat} untuk gambaran strateginya.
-Robot $B \in \tetangga_A$, adalah tetangga dari robot $A$.
-Pertama-tama, sebelum robot $A$ bergerak, disimpan terlebih dahulu nilai $d_a$,
-atau dinotasikan dengan $d_a[k]$ sebagai jarak sebelum bergerak.
-Lalu robot $A$ berjalan secara random kesegala arah dengan jarak $l_a$.
-Disimpan kembali nilai jara $d_a$, atau dinotasikan dengan $d_a[k+1]$.
-Setalah itu dapat ditentukan sudut $\alpha[k+1]$
+Berikut adalah model dari robot holonomic dalam bentuk \textit{state-space} \kutip{CORREIA20127}.
+Dimana robot menggunakan tiga buah motor yang dihubungkan pada \textit{omniwheel} sehingga robot
+dapat bergerak kesegala arah.
 \begin{align}
-  d_a[k]^2    & = d_a[k+1]^2 + l_a^2 + 2 d_a[k+1] l_a \cos{(\alpha[k+1])}                 \\
-  \alpha[k+1] & = cos^{-1}\Bigg( \frac{l_a^2 + d_a[k+1]^2 -d_a[k]^2}{2d_a[k+1]l_a} \Bigg)
+  \dot{x}(t) & = A_r x(t) + B_r u(t) + K_rsgn(x(t)) \label{eq:ss1} \\
+  y(t)       & = Cx(t) \label{eq:ss2}
+\end{align}
+Vector
+$u(t) = \begin{bmatrix}
+    u_1(t) & u_1(t) & u(2)(t)
+  \end{bmatrix}^T$
+adalah masukan model bersatuan $volt$ dengan batasan $-6 \leq u_i(t) \leq 6$ pada tegangan motor robot.
+Vector $y(t) = x(t) = \begin{bmatrix}
+    v(t) & v_n(t) & w(t)
+  \end{bmatrix}^T$
+adalah kecepatan robot yang akan diperoleh dari sensor percepatan,
+dimana $v(t)$ adalah kecepatan pada sumbu $x$,
+$v_n(t)$ adalah kecepatan pada sumbu $y$, dan
+$w(t)$ adalah kecepatan rotasi dari frame robot.
+Matrix $A_r \in \mathbb{R}^{3\times 3}$ dan $B_r \in \mathbb{R}^{3 \times 3}$ adalah parameter fisik robot berdasarkan
+yang diperoleh dari identifikasi secara persamaan fisika.
+Matrix $K_r \in \mathbb{R}^{3 \times 3}$ adalah parameter \textit{friction} dari robot yang diestimasi dari
+hasil percobaan.
+
+Kendali dari robot akan menggunakan dua mode \textit{state-feedback}.
+\textbf{Mode satu}, bertujuan untuk mencapai kecepatan robot yang diinginkan.
+Untuk mencapai tujuan tersebut akan menggunakan persamaan kendali sebagai berikut
+\begin{equation}
+  \begin{split}
+    u_{c1}(t) &= -K^c_1 x(t) + N^c_1 r^c_1 \\
+    r^c_1 &= \begin{bmatrix}
+      v^*(t) & v_n^*(t) & w^*(t)
+    \end{bmatrix}^T
+  \end{split}
+  \label{eq:kendali_kecepatan}
+\end{equation}
+Dimana $r^c_1$ , $K^c_1 \in \mathbb{R} ^ {3 \times 3}$ dan $N^c_1 \in \mathbb{R} ^ {3 \times 3}$
+adalah setpoint kendali mode satu, konstanta yang diperoleh dari optimasi
+persamaan \textit{Riccati} terhadap matrix $A_r$ dan $B_r$,
+dan kostanta yang diperoleh dari \textit{inverse state-space} pada keadaan \textit{steady state}.
+\begin{equation*}
+  N^c_1  =  -[ C(A_r - B_rK^c_1)^{-1}B_r ] ^{-1}
+\end{equation*}
+Dengan menggabungkan persamaan~\eqref{eq:ss1} dengan persamaan~\eqref{eq:kendali_kecepatan}
+akan mendapatkan persamaan \textit{state-space} robot yang baru
+\begin{align}
+  \begin{split}
+    \dot{x}(t) & = (A_r - B_r K^c_1) x(t)+B_r N^c_1 r^c_1  + K_r sgn(x(t)) \\
+    & = A_c x(t) + B_c r^c_1 + K_r sgn(x(t))
+  \end{split}
+  \label{eq:ss_kendali_kecepatan}
+\end{align}
+\textbf{Mode dua}, bertujuan untuk mencapai titik koordinat tertentu
+berdasarkan koordinat frame robot. Untuk mencapai tujuan tersebut
+akan dimodifikasi persamaan~\eqref{eq:ss1} dengan menambah state koordinat frame robot
+menjadi $y_{c2}(t) = x_{c2}(t) = \begin{bmatrix}
+    x_r(t) & y_r(t) & \theta_r(t) & v(t) & v_n(t) & w(t)
+  \end{bmatrix}^T$, $
+  A_{c2} = \begin{bmatrix}
+    0 & I   \\
+    0 & A_r \\
+  \end{bmatrix} \in \mathbb{R}^{6 \times 6}
+$,
+$B_{c2}    = \begin{bmatrix}
+    0 \\ B_r
+  \end{bmatrix} \in \mathbb{R} ^ {6 \times 3} $,
+$K_{c2}(x) = \begin{bmatrix}
+    0 & 0         \\
+    0 & K_rsgn(x) \\
+  \end{bmatrix}  \in \mathbb{R} ^ {6 \times 3} $.
+Berikut adalah state space model untuk kendali mode satu.
+\begin{equation*}
+  \begin{split}
+    \dot{x}_{c2}(t) & = A_{c2} x_{c2}(t) + B_{c2} u_{c2}(t) + K_{c2}(x_{c2}(t)) \\
+    y_{c2}(t) & = C_{c2} x_{c2}(t) \\
+  \end{split}
+\end{equation*}
+Dimana $u_{c2}(t)$ adalah persamaan kendali mode dua.
+\begin{equation}
+  \begin{split}
+    u_{c2} (t) &= -K^c_2 x_{c2}(t) + N^c_2 r^c_2                      \\
+    r^c_2 &= \begin{bmatrix}
+      x_r^*(t) & y_r^*(t) & \theta_r^*(t) & v^*(t) & v_n^*(t) & w^*(t)
+    \end{bmatrix}^T
+  \end{split}
+\end{equation}
+Dimana $r^c_2$, $K^c_2 \in \mathbb{R} ^ {3 \times 6}$ dan $N^c_2 \in \mathbb{R} ^ {3 \times 6}$
+adalah setpoint kendali mode dua dan kostanta yang diperoleh dari cara yang sama pada mode satu
+menggunakan matrix model yang dimodifikasi.
+
+\subsection{Kendali Formasi Berdasarkan Jarak}
+Dinotasikan $n \triangleq | \simpul |$ sebagai jumlah dari node
+dan $m \triangleq | \sisi |$ sebagai jumlah dari sisinya.
+Dinotasikan $p = \begin{bmatrix} x_1^T & \dots & x_n^T \end{bmatrix}^T \in \mathbb{R}^{3n}$,
+dimana $x_i \in \mathbb{R}^3$ dan $x_i \neq x_j$ untuk semua $i \neq j$.
+Dinotasikan vektor posisi relatif $ e_k \triangleq x_j - x_i$ dan semua vector sisi
+$e=\begin{bmatrix}e_1^t & \dots & e_m^T\end{bmatrix} \in \mathbb{R}^{3m}$.
+didefinisikan fungsi \textit{Jacobian} sisi \kutip{Rozenheck2015}),
+\begin{align}
+  R(p) & \triangleq diag(e_i^T)(E^T \otimes I_2) \in \mathbb{R}^{m\times 3n} \nonumber \\
+\end{align}
+Dimana $E \in \mathbb{R}^{n\times m}$, adalah matrik \textit{incidence} $\{0,\pm 1\}$ dimana
+baris matrik mengindikasikan simpulnya dan kolomnya sebagai sisinya dan
+$diag(A_i) \triangleq blkdiag\{A_1, \dots, A_n\} \in \mathbb{R}^{np \times nq}$
+Orde kendali formasi yang digunakan adalah orde dua
+Mengadopsi persamaan potensial, didefinisi persamaan \kutip{Oh2014}.
+\begin{align}
+  \Phi(e) & = \frac{1}{2} \sum_{i \in \simpul }||v_i||^2 + \frac{1}{2} \sum_{k=1}^{m} \big( ||e_k||^2 - d_k^2 \big)^2
+\end{align}
+Lalu kendali formasi menggunakan persamaan~\eqref{eq:ss_kendali_kecepatan} sebagai modelnya
+diberikan \textit{negative gradient} dari fungsi potensial dan
+konstanta \textit{proportional} \kutip{Rozenheck2015}
+\begin{equation}
+  \begin{split}
+    \dot{p} & = A_f p(t) + B_f\frac{\partial \Phi(e)}{\partial v}                                            \\
+    & =  A_f p(t) + B_fv(t)                                                                           \\
+    \dot{v} & = -C \Big( \frac{\partial \Phi(e)}{\partial v} + \frac{\partial \Phi(e)}{\partial p} \Big) \\
+    & = -k_{p1}v(t) + R(p(t))^Tk_{p2}(R(p(t))p(t) - d ))                                                         \\
+  \end{split}
+  \label{eq:dynmState}
+\end{equation}
+Dimana $A_f \in \mathbb{R}^{3n \times 3n}$ dan $B_f \in \mathbb{R}^{3n \times 3n}$ adalah 
+matrix diagonal dari $A_c$ dan $B_c$.
+
+\subsection{Algoritma Cosinus}
+Robot $B_i \in \tetangga_A$, adalah tetangga dari robot $A$ .
+$d_i[k]$ adalah jarak yang diperoleh dari sensor.
+Dalam strategi (Gambar~\ref{fig:strategiPenentuanKoordinat}) ini diperlukan perpindahan robot $A$ ke $ A' = (0, l_a)$.
+Perpindahan tersebut akan menghasilkan jarak $d_i[k+1]$.
+Dari perbedaan tersebut akan didapatkan sudut $\alpha_i^\circ$.
+\begin{align}
+  \alpha_i^\circ & = 180^\circ \pm cos^{-1}\Bigg( \frac{l_a^2 + d_i[k+1]^2 -d_i[k]^2}{2 d_i[k+1] l_a} \Bigg).\nonumber \\
+                 & = 180^\circ \pm \zeta_i^a
   \label{eq:algo_getAngle}
 \end{align}
-Sebelum $\alpha[k+1]$ digunakan, jarak $d_a[k+1]$ dan $d_a[k]$ berpengaruh dalam penentuan koordinat.
-Sehingga diperlukan sedikit algoritma
+Dari persamaan~\eqref{eq:algo_getAngle} akan didapat koordinat tetangga.
 \begin{align}
-  \alpha_i=
-  \begin{cases}
-    \alpha[k+1]     & ,d_a[k+1] > d_a[k] \\
-    180-\alpha[k+1] & ,d_a[k+1] < d_a[k]
-  \end{cases}.\label{eq:init_relatif_koordinat}
-\end{align}
-
-Strategi pada gambar~\ref{fig:strategiPenentuanKoordinat} hanya berlaku apabila target ukur berhenti. Apabila dinotasikan koordinat $(x_B^A, y_B^A)$ adalah koordinat relatif robot $B$ terhadap $A$,
-maka $(\dot{x}_B^A, \dot{y}_B^A)$ adalah notasi kecepatan koordinat dari robot B.
-Dengan menggunakan persamaan~\eqref{eq:kinematika_robot} untuk menyelesaikan koordinat dalam
-keadaan robot $B$ bergerak, yaitu mengirimkan informasi kecepatan koordinatnya
-ke robot $A$. Lalu robot $A$ dapat mengkalkulasi koordinat relatif dengan persamaan berikut
-\begin{align}
-  \alpha[k+1] & = \alpha[k]+tan^{-1} \Big[ \frac{\dot{x}_B^A}{\dot{y}_B^A} \Big]
-\end{align}
-dimana kondisi inisial adalah $\alpha[k] = \alpha_i$ diperoleh dari hasil strategi pada persamaan~\eqref{eq:init_relatif_koordinat}.
-Dengan memanfaatkan kedua strategi tersebut dapat digunakan untuk
-mengkalkulasi koordinat robot $B$ relatif terhadap robot $A$
-\begin{align}
-  x_B^A = \begin{bmatrix}
-    x_B = d_a[k]\cos \alpha[k] \\
-    y_B = d_a[k]\sin \alpha[k]
+  x_{B_i}^A = \begin{bmatrix}
+    x_{B_i} = d_i[k+1]\cos \alpha_i^\circ \\
+    y_{B_i} = d_i[k+1]\sin \alpha_i^\circ
   \end{bmatrix}
+  \label{eq:algo_koordinat_tetangga}
 \end{align}
-Dalam strategi ini akan terjadi ketidak akuratan dalam pengukuran apabila target ukur
-berada pada sudut $90^\circ$.
-Akan tetapi, \kutip{Cao2007} sudah menjelaskan mengenai kriteria posisi agent ketika dalam kondisi inisial.
-Yaitu semua agent tidak berada pada kondisi sejajar secara koordinat global.
+Untuk memvalidasi apakah koordinat telah sesuai dapat menggunakan nilai jarak pada sensor
+dibandingkan dengan jarak dari hasil koordinat persamaan~\eqref{eq:algo_koordinat_tetangga}.
+Akan tetapi hasil validasi tersebut akan mengalami bias dikarenakan
+sudut $\zeta_i^a$ adalah sudut segitiga  $\angle{AA'B_1}$ atau $\angle{AA'B_2}$.
+Oleh karena itu pada persamaan~\eqref{eq:algo_getAngle} terdapat operasi $\pm$
+dimana operasi tersebut akan dilakukan berdasarkan letak kuadran $B_i$.
+\begin{align}
+  \alpha_i^\circ & =
+  \begin{cases}
+    180^\circ - \zeta_i^a, & \text{Kuadran \RN{1},\RN{2}} \\
+    180^\circ + \zeta_i^a, & \text{Kuadran \RN{3},\RN{4}} \\
+  \end{cases}.
+  \label{eq:algo_getAngle2}
+\end{align}
+Diperlukan satu langkah lagi untuk menentukan kejadian pada
+persamaan~\eqref{eq:algo_getAngle2}(Gambar~\ref{fig:strategiPenentuanKoordinat2}).
+Langkah 2 adalah langkah pengujian dari hasil koordinat yang telah dikalkulasi
+dan membandingkannya dengan nilai yang didapat dari sensor.
+Apabila terdapat perbedaan maka kejadian pada persamaan~\eqref{eq:algo_getAngle2}
+diubah ke kejadian selanjutnya.
 
-\begin{algorithm}
-  \DontPrintSemicolon
-  \KwInput{
-    Integer $l_a>0$,
-    $\tetangga_i=getConnectionRobot()$, }
-  \KwOutput{$x_i^j$}
-
-  \If{isInisilised() == false}{
-  \tcc{inisialisasi}
-  \tcc{getRandomDirection() akan mengembalikan sudur random antara 0 - 360}
-  $dir = getRandomDirection()$\;
-  $d_{before} = getDistanceFromSensor(\tetangga_i)$\;
-  $r = \begin{bmatrix}
-      l_a \cos(dir) \\
-      l_a \sin(dir)
-    \end{bmatrix}$\;
-
-  \tcc{Menjalankan robot hingga mencapai setpoint}
-  \While{isSetpointReached()}{
-    $runRobotToSetpoint(r)$\;
-  }
-
-  \tcc{Mengambil jarak setelah robot mencapai setpoint}
-  $d_{after} = getDistanceFromSensor(\tetangga_i)$\;
-
-  \tcc{Mengkalkulasi sudut}
-  $ang = cos^{-1}\Bigg[ \frac{l_a^2 + d_{after}^2 -d_{before}^2}{2d_{before}l_a} \Bigg]$\;
-  }
-  \Else{
-  \tcc{mendapatkan infromasi state dari tetangga}
-  $\begin{bmatrix}
-    \dot{x}_B^A \\ \dot{y}_B^A 
-  \end{bmatrix} = getState()$ \;
-  $ang = \alpha[k]+tan^{-1} \Big[ \frac{\dot{x}_B^A}{\dot{y}_B^A} \Big]$ \;
-  }
-
-  \If{$d_{before}<d_{after}$}
-  {
-  $ang = 180-ang$\;
-  }
-  \tcc{Menjadikan koordinat kartesian}
-  \Return $x_i^j = \begin{bmatrix}
-      d_{after} \cos(ang) \\
-      d_{after} \sin(ang)
-    \end{bmatrix}$\;
-
-  \caption{\textit{Algoritma Cosinus}}
-  \label{algo:algoritma_cosinus}
-\end{algorithm}
+\begin{figure}[ht]
+  \begin{subfigure}[t]{.5\textwidth}
+    \centering
+    \includegraphics[scale=.2]{BAB3/img/estimate_coordinate.png}
+    \caption{}
+    \label{fig:strategiPenentuanKoordinat}
+  \end{subfigure}
+  \begin{subfigure}[t]{.5\textwidth}
+    \centering
+    \includegraphics[scale=.2]{BAB3/img/estimate_coordinate2.png}
+    \caption{}
+    \label{fig:strategiPenentuanKoordinat2}
+  \end{subfigure}
+  \caption{Strategi penentuan koordinat (a) langkah 1 dan (b) Langkah 2}
+\end{figure}

BAB5/art_diskusi.tex

@@ -0,0 +1 @@
+\section{Diskusi}

BAB5/art_hasil.tex

@@ -0,0 +1,40 @@
+\section{Hasil}
+Berikut pada gambar~\ref{fig:hasil} adalah hasil dari algoritma cosinus.
+Parameter $l_a = 1$ pada persamaan~\eqref{eq:algo_getAngle} dan $(x_a*,y_a*) = (1,1)$.
+Pada gambar~(\ref{fig:sensor_jarak},\ref{fig:motion_robot}) 
+dan gambar~(\ref{fig:sensor_jarak_algo},\ref{fig:motion_robot_algo}) menunjukkan bahwa
+algoritma tidak mempengaruhi kendali formasi.
+
+\begin{figure}[ht]
+    \begin{subfigure}[t]{.5\textwidth}
+        \centering
+        \includegraphics[scale=.2]{BAB5/img/distance.png}
+        % \caption[.]{Sensor jarak robot menggunakan algoritma}
+        \caption{}
+        \label{fig:sensor_jarak_algo}
+    \end{subfigure}
+    \begin{subfigure}[t]{.5\textwidth}
+        \centering
+        \includegraphics[scale=.2]{BAB5/img/motion.png}
+        % \caption[.]{Pergerakan robot}
+        \caption{}
+        \label{fig:motion_robot_algo}
+    \end{subfigure}
+    \begin{subfigure}[t]{.5\textwidth}
+        \centering
+        \includegraphics[scale=.2]{BAB5/img/distance ori.png}
+        % \caption[.]{Sensor jarak robot}
+        \caption{}
+        \label{fig:sensor_jarak}
+    \end{subfigure}
+    \begin{subfigure}[t]{.5\textwidth}
+        \centering
+        \includegraphics[scale=.2]{BAB5/img/motion ori.png}
+        % \caption[.]{Pergerakan robot}
+        \caption{}
+        \label{fig:motion_robot}
+    \end{subfigure}
+    \caption{Plot menggunakan algoritma (a. Sensor Jarak dan b. Pergerakan robot)
+        dan tidak menggunakan algoritma (c. Sensor Jarak dan d. Pergerakan Robot)}
+    \label{fig:hasil}
+\end{figure}

article-blx.bib

@@ -7,5 +7,5 @@
 % required.
 
 @Control{biblatex-control,
-  options = {3.7:0:0:1:0:1:1:0:0:1:0:2:3:1:3:1:0:0:3:1:79:+:+:nyt},
+  options = {3.7:0:0:1:0:1:1:0:0:0:0:1:3:1:3:1:0:0:3:1:79:+:+:nty},
 }

article.bbl

@@ -16,75 +16,444 @@
   {}
 \endgroup
 
-\datalist[entry]{nyt/global//global/global}
-  \entry{Cao2007}{inproceedings}{}
-    \name{author}{5}{}{%
-      {{hash=CM}{%
-         family={{Cao}},
+\datalist[entry]{nty/global//global/global}
+  \entry{CORREIA20127}{article}{}
+    \name{author}{3}{}{%
+      {{hash=CMD}{%
+         family={Correia},
          familyi={C\bibinitperiod},
-         given={M.},
-         giveni={M\bibinitperiod},
+         given={Mariane\bibnamedelima Dourado},
+         giveni={M\bibinitperiod\bibinitdelim D\bibinitperiod},
       }}%
-      {{hash=MAS}{%
-         family={{Morse}},
-         familyi={M\bibinitperiod},
-         given={A.\bibnamedelima S.},
-         giveni={A\bibinitperiod\bibinitdelim S\bibinitperiod},
+      {{hash=GA}{%
+         family={Gustavo},
+         familyi={G\bibinitperiod},
+         given={André},
+         giveni={A\bibinitperiod},
       }}%
-      {{hash=YC}{%
-         family={{Yu}},
-         familyi={Y\bibinitperiod},
-         given={C.},
-         giveni={C\bibinitperiod},
-      }}%
-      {{hash=ABDO}{%
-         family={{Anderson}},
-         familyi={A\bibinitperiod},
-         given={B.\bibnamedelima D.\bibnamedelima O.},
-         giveni={B\bibinitperiod\bibinitdelim D\bibinitperiod\bibinitdelim
-  O\bibinitperiod},
-      }}%
-      {{hash=DS}{%
-         family={{Dasguvta}},
-         familyi={D\bibinitperiod},
-         given={S.},
+      {{hash=CS}{%
+         family={Conceição},
+         familyi={C\bibinitperiod},
+         given={Scolari},
          giveni={S\bibinitperiod},
       }}%
     }
-    \keyw{distributed control;mobile robots;multi-robot systems;spatial
-  variables control;triangular formation;mobile autonomous agents;collinear
-  formations;distributed control law;Autonomous agents;USA Councils;Distributed
-  control;H infinity control;Differential equations;Information
-  technology;Art;Australia Council}
-    \strng{namehash}{CM+1}
-    \strng{fullhash}{CMMASYCABDODS1}
+    \keyw{Models, Friction, Parameter estimation, Autonomous mobile robots}
+    \strng{namehash}{CMDGACS1}
+    \strng{fullhash}{CMDGACS1}
     \field{labelnamesource}{author}
     \field{labeltitlesource}{title}
-    \field{labelyear}{2007}
-    \field{labeldatesource}{}
     \field{sortinit}{C}
     \field{sortinithash}{C}
     \field{abstract}{%
-    This paper proposes a distributed control law for maintaining a triangular
-  formation in the plane consisting of three mobile autonomous agents. It is
-  shown that the control law can cause any initially non-collinear,
-  positively-oriented {resp. negatively-oriented} triangular formation to
-  converge exponentially fast to a desired positively-oriented {resp.
-  negatively- oriented} triangular formation. It is also shown that there is a
-  thin set of initially collinear formations which remain collinear and may
-  drift off to infinity as t rarr infin. These findings complement and extend
-  earlier findings cited below.%
+    This paper presents a model of a three-wheeled omnidirectional robot
+  including a static friction model. Besides the modeling is presented a
+  practical approach in order to estimate the coefficients of coulomb and
+  viscous friction, which used sensory information about force and velocity of
+  the robot's center of mass. The proposed model model has the voltages of the
+  motors as inputs and the linear and angular velocities of the robot as
+  outputs. Actual results and simulation with the estimated model are compared
+  to demonstrate the performance of the proposed modeling.%
     }
-    \field{booktitle}{2007 46th IEEE Conference on Decision and Control}
     \verb{doi}
-    \verb 10.1109/CDC.2007.4434757
+    \verb https://doi.org/10.3182/20120905-3-HR-2030.00002
     \endverb
-    \field{issn}{0191-2216}
-    \field{pages}{3603\bibrangedash 3608}
-    \field{title}{Controlling a triangular formation of mobile autonomous
-  agents}
-    \field{year}{2007}
+    \field{issn}{1474-6670}
+    \field{note}{10th IFAC Symposium on Robot Control}
+    \field{number}{22}
+    \field{pages}{7 \bibrangedash  12}
+    \field{title}{Modeling of a Three Wheeled Omnidirectional Robot Including
+  Friction Models}
+    \verb{url}
+    \verb http://www.sciencedirect.com/science/article/pii/S1474667016335807
+    \endverb
+    \field{volume}{45}
+    \field{journaltitle}{IFAC Proceedings Volumes}
+    \field{year}{2012}
+  \endentry
+
+  \entry{ELFERIK2016117}{article}{}
+    \name{author}{3}{}{%
+      {{hash=FSE}{%
+         family={Ferik},
+         familyi={F\bibinitperiod},
+         given={Sami\bibnamedelima El},
+         giveni={S\bibinitperiod\bibinitdelim E\bibinitperiod},
+      }}%
+      {{hash=NMT}{%
+         family={Nasir},
+         familyi={N\bibinitperiod},
+         given={Mohammad\bibnamedelima Tariq},
+         giveni={M\bibinitperiod\bibinitdelim T\bibinitperiod},
+      }}%
+      {{hash=BU}{%
+         family={Baroudi},
+         familyi={B\bibinitperiod},
+         given={Uthman},
+         giveni={U\bibinitperiod},
+      }}%
+    }
+    \keyw{Cluster space, Behavioral control, Fuzzy adaptive, Multi-robots}
+    \strng{namehash}{FSENMTBU1}
+    \strng{fullhash}{FSENMTBU1}
+    \field{labelnamesource}{author}
+    \field{labeltitlesource}{title}
+    \field{sortinit}{F}
+    \field{sortinithash}{F}
+    \field{abstract}{%
+    Cooperation between autonomous robot vehicles holds several promising
+  advantages like robustness, adaptability, configurability, and scalability.
+  Coordination between the different robots and the individual relative motion
+  represent both the main challenges especially when dealing with formation
+  control and maintenance. Cluster space control provides a simple concept for
+  controlling multi-agent formation. In the classical approach, formation
+  control is the unique task for the multi-agent system. In this paper, the
+  development and application of a novel Behavioral Adaptive Fuzzy-based
+  Cluster Space Control (BAFC) to non-holonomic robots is presented. By
+  applying a fuzzy priority control approach, BAFC deals with two conflicting
+  tasks: formation maintenance and target following. Using priority rules, the
+  fuzzy approach is used to adapt the controller and therefore the behavior of
+  the system, taking into accounts the errors in the formation states and the
+  target following states. The control approach is easy to implement and has
+  been implemented in this paper using SIMULINK real-time platform. The
+  communication between the different agents and the controller is established
+  through Wi-Fi link. Both simulation and experimental results demonstrate the
+  behavioral response where the robot performs the higher priority tasks first.
+  This new approach shows a great performance with a lower control signal when
+  benchmarked with previously known results in the literature.%
+    }
+    \verb{doi}
+    \verb https://doi.org/10.1016/j.asoc.2016.03.018
+    \endverb
+    \field{issn}{1568-4946}
+    \field{pages}{117 \bibrangedash  127}
+    \field{title}{A Behavioral Adaptive Fuzzy controller of multi robots in a
+  cluster space}
+    \verb{url}
+    \verb http://www.sciencedirect.com/science/article/pii/S1568494616301272
+    \endverb
+    \field{volume}{44}
+    \field{journaltitle}{Applied Soft Computing}
+    \field{year}{2016}
+  \endentry
+
+  \entry{Guanghua2013}{inproceedings}{}
+    \name{author}{4}{}{%
+      {{hash=GW}{%
+         family={Guanghua},
+         familyi={G\bibinitperiod},
+         given={Wang},
+         giveni={W\bibinitperiod},
+      }}%
+      {{hash=DL}{%
+         family={Deyi},
+         familyi={D\bibinitperiod},
+         given={Li},
+         giveni={L\bibinitperiod},
+      }}%
+      {{hash=WG}{%
+         family={Wenyan},
+         familyi={W\bibinitperiod},
+         given={Gan},
+         giveni={G\bibinitperiod},
+      }}%
+      {{hash=PJ}{%
+         family={Peng},
+         familyi={P\bibinitperiod},
+         given={Jia},
+         giveni={J\bibinitperiod},
+      }}%
+    }
+    \strng{namehash}{GW+1}
+    \strng{fullhash}{GWDLWGPJ1}
+    \field{labelnamesource}{author}
+    \field{labeltitlesource}{title}
+    \field{sortinit}{G}
+    \field{sortinithash}{G}
+    \verb{doi}
+    \verb 10.1109/ISDEA.2012.316
+    \endverb
+    \field{isbn}{978-1-4673-4893-5}
+    \field{pages}{1335\bibrangedash 1339}
+    \field{title}{Study on Formation Control of Multi-Robot Systems}
+    \field{month}{01}
+    \field{year}{2013}
+  \endentry
+
+  \entry{Oh2014}{article}{}
+    \name{author}{2}{}{%
+      {{hash=OKK}{%
+         family={Oh},
+         familyi={O\bibinitperiod},
+         given={Kwang-Kyo},
+         giveni={K\bibinithyphendelim K\bibinitperiod},
+      }}%
+      {{hash=AHS}{%
+         family={Ahn},
+         familyi={A\bibinitperiod},
+         given={Hyo-Sung},
+         giveni={H\bibinithyphendelim S\bibinitperiod},
+      }}%
+    }
+    \keyw{formation control, distance-based control, graph rigidity,
+  Hamiltonian systems, gradient systems}
+    \strng{namehash}{OKKAHS1}
+    \strng{fullhash}{OKKAHS1}
+    \field{labelnamesource}{author}
+    \field{labeltitlesource}{title}
+    \field{sortinit}{O}
+    \field{sortinithash}{O}
+    \field{abstract}{%
+    SUMMARYWe study the local asymptotic stability of undirected formations of
+  single-integrator and double-integrator modeled agents based on interagent
+  distance control. First, we show that n-dimensional undirected formations of
+  single-integrator modeled agents are locally asymptotically stable under a
+  gradient control law. The stability analysis in this paper reveals that the
+  local asymptotic stability does not require the infinitesimal rigidity of the
+  formations. Second, on the basis of the topological equivalence of a
+  dissipative Hamiltonian system and a gradient system, we show that the local
+  asymptotic stability of undirected formations of double-integrator modeled
+  agents in n-dimensional space is achieved under a gradient-like control law.
+  Simulation results support the validity of the stability analysis. Copyright
+  © 2013 John Wiley \& Sons, Ltd.%
+    }
+    \verb{doi}
+    \verb 10.1002/rnc.2967
+    \endverb
+    \verb{eprint}
+    \verb https://onlinelibrary.wiley.com/doi/pdf/10.1002/rnc.2967
+    \endverb
+    \field{number}{12}
+    \field{pages}{1809\bibrangedash 1820}
+    \field{title}{Distance-based undirected formations of single-integrator and
+  double-integrator modeled agents in n-dimensional space}
+    \verb{url}
+    \verb https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.2967
+    \endverb
+    \field{volume}{24}
+    \field{journaltitle}{International Journal of Robust and Nonlinear Control}
+    \field{year}{2014}
+  \endentry
+
+  \entry{OH2015424}{article}{}
+    \name{author}{3}{}{%
+      {{hash=OKK}{%
+         family={Oh},
+         familyi={O\bibinitperiod},
+         given={Kwang-Kyo},
+         giveni={K\bibinithyphendelim K\bibinitperiod},
+      }}%
+      {{hash=PMC}{%
+         family={Park},
+         familyi={P\bibinitperiod},
+         given={Myoung-Chul},
+         giveni={M\bibinithyphendelim C\bibinitperiod},
+      }}%
+      {{hash=AHS}{%
+         family={Ahn},
+         familyi={A\bibinitperiod},
+         given={Hyo-Sung},
+         giveni={H\bibinithyphendelim S\bibinitperiod},
+      }}%
+    }
+    \keyw{Formation control, Position-based control, Displacement-based
+  control, Distance-based control}
+    \strng{namehash}{OKKPMCAHS1}
+    \strng{fullhash}{OKKPMCAHS1}
+    \field{labelnamesource}{author}
+    \field{labeltitlesource}{title}
+    \field{sortinit}{O}
+    \field{sortinithash}{O}
+    \field{abstract}{%
+    We present a survey of formation control of multi-agent systems. Focusing
+  on the sensing capability and the interaction topology of agents, we
+  categorize the existing results into position-, displacement-, and
+  distance-based control. We then summarize problem formulations, discuss
+  distinctions, and review recent results of the formation control schemes.
+  Further we review some other results that do not fit into the
+  categorization.%
+    }
+    \verb{doi}
+    \verb https://doi.org/10.1016/j.automatica.2014.10.022
+    \endverb
+    \field{issn}{0005-1098}
+    \field{pages}{424 \bibrangedash  440}
+    \field{title}{A survey of multi-agent formation control}
+    \verb{url}
+    \verb http://www.sciencedirect.com/science/article/pii/S0005109814004038
+    \endverb
+    \field{volume}{53}
+    \field{journaltitle}{Automatica}
+    \field{year}{2015}
+  \endentry
+
+  \entry{Parker2003}{article}{}
+    \name{author}{1}{}{%
+      {{hash=PL}{%
+         family={Parker},
+         familyi={P\bibinitperiod},
+         given={Lynne},
+         giveni={L\bibinitperiod},
+      }}%
+    }
+    \strng{namehash}{PL1}
+    \strng{fullhash}{PL1}
+    \field{labelnamesource}{author}
+    \field{labeltitlesource}{title}
+    \field{sortinit}{P}
+    \field{sortinithash}{P}
+    \verb{doi}
+    \verb 10.1007/BF02480877
+    \endverb
+    \field{pages}{1\bibrangedash 5}
+    \field{title}{Current research in multirobot systems}
+    \field{volume}{7}
+    \field{journaltitle}{Artificial Life and Robotics}
+    \field{month}{03}
+    \field{year}{2003}
+  \endentry
+
+  \entry{Rozenheck2015}{inproceedings}{}
+    \name{author}{3}{}{%
+      {{hash=RO}{%
+         family={{Rozenheck}},
+         familyi={R\bibinitperiod},
+         given={O.},
+         giveni={O\bibinitperiod},
+      }}%
+      {{hash=ZS}{%
+         family={{Zhao}},
+         familyi={Z\bibinitperiod},
+         given={S.},
+         giveni={S\bibinitperiod},
+      }}%
+      {{hash=ZD}{%
+         family={{Zelazo}},
+         familyi={Z\bibinitperiod},
+         given={D.},
+         giveni={D\bibinitperiod},
+      }}%
+    }
+    \keyw{gradient methods;multi-agent systems;PI control;velocity
+  control;proportional-integral controller;distance-based formation
+  tracking;multiagent formation control problem;additional velocity reference
+  command;interagent distance constraints;gradient formation
+  controller;formation error dynamics;steady-state formation error;Stability
+  analysis;Steady-state;Symmetric matrices;Aerodynamics;Jacobian
+  matrices;Numerical stability;Asymptotic stability}
+    \strng{namehash}{ROZSZD1}
+    \strng{fullhash}{ROZSZD1}
+    \field{labelnamesource}{author}
+    \field{labeltitlesource}{title}
+    \field{sortinit}{R}
+    \field{sortinithash}{R}
+    \field{booktitle}{2015 European Control Conference (ECC)}
+    \verb{doi}
+    \verb 10.1109/ECC.2015.7330781
+    \endverb
+    \field{pages}{1693\bibrangedash 1698}
+    \field{title}{A proportional-integral controller for distance-based
+  formation tracking}
+    \field{year}{2015}
     \warn{\item Invalid format of field 'month'}
   \endentry
+
+  \entry{6889491}{inproceedings}{}
+    \name{author}{3}{}{%
+      {{hash=WX}{%
+         family={{Wang}},
+         familyi={W\bibinitperiod},
+         given={X.},
+         giveni={X\bibinitperiod},
+      }}%
+      {{hash=YZ}{%
+         family={{Yan}},
+         familyi={Y\bibinitperiod},
+         given={Z.},
+         giveni={Z\bibinitperiod},
+      }}%
+      {{hash=WJ}{%
+         family={{Wang}},
+         familyi={W\bibinitperiod},
+         given={J.},
+         giveni={J\bibinitperiod},
+      }}%
+    }
+    \keyw{dynamic programming;mobile robots;multi-robot
+  systems;neurocontrollers;optimal control;predictive control;quadratic
+  programming;recurrent neural nets;torque control;trajectory control;model
+  predictive control approach;multirobot formation control problem;simplified
+  dual neural network;leader-follower scheme;desired trajectory
+  tracking;dynamic quadratic optimization problem;one-layer recurrent neural
+  network;optimal control input;Vectors;Lead;Wheels;Neural networks;Robot
+  kinematics;Mathematical model}
+    \strng{namehash}{WXYZWJ1}
+    \strng{fullhash}{WXYZWJ1}
+    \field{labelnamesource}{author}
+    \field{labeltitlesource}{title}
+    \field{sortinit}{W}
+    \field{sortinithash}{W}
+    \field{booktitle}{2014 International Joint Conference on Neural Networks
+  (IJCNN)}
+    \verb{doi}
+    \verb 10.1109/IJCNN.2014.6889491
+    \endverb
+    \field{issn}{2161-4393}
+    \field{pages}{3161\bibrangedash 3166}
+    \field{title}{Model predictive control of multi-robot formation based on
+  the simplified dual neural network}
+    \field{year}{2014}
+    \warn{\item Invalid format of field 'month'}
+  \endentry
+
+  \entry{YOSHIOKA20085149}{article}{}
+    \name{author}{2}{}{%
+      {{hash=YC}{%
+         family={Yoshioka},
+         familyi={Y\bibinitperiod},
+         given={Chika},
+         giveni={C\bibinitperiod},
+      }}%
+      {{hash=NT}{%
+         family={Namerikawa},
+         familyi={N\bibinitperiod},
+         given={Toru},
+         giveni={T\bibinitperiod},
+      }}%
+    }
+    \strng{namehash}{YCNT1}
+    \strng{fullhash}{YCNT1}
+    \field{labelnamesource}{author}
+    \field{labeltitlesource}{title}
+    \field{sortinit}{Y}
+    \field{sortinithash}{Y}
+    \field{abstract}{%
+    This paper deals with formation control strategies based on Virtual
+  Structure (VS) for multi-vehicle systems. We propose several control laws for
+  networked multi-nonholonomic vehicle systems in order to achieve VS
+  consensus, VS Flocking and VS Flocking with collision-avoidance. First,
+  Virtual Vehicle for the feedback linearization is considered, and we propose
+  VS consensus and Flocking control laws based on a virtual structure and
+  consensus algorithms. Then, VS Flocking control law considering collision
+  avoidance is proposed and its asymptotical stability is proven. Finally,
+  simulation and experimental results show effectiveness of our proposed
+  approaches.%
+    }
+    \verb{doi}
+    \verb https://doi.org/10.3182/20080706-5-KR-1001.00865
+    \endverb
+    \field{issn}{1474-6670}
+    \field{note}{17th IFAC World Congress}
+    \field{number}{2}
+    \field{pages}{5149 \bibrangedash  5154}
+    \field{title}{Formation Control of Nonholonomic Multi-Vehicle Systems based
+  on Virtual Structure}
+    \verb{url}
+    \verb http://www.sciencedirect.com/science/article/pii/S1474667016397609
+    \endverb
+    \field{volume}{41}
+    \field{journaltitle}{IFAC Proceedings Volumes}
+    \field{year}{2008}
+  \endentry
 \enddatalist
 \endinput

article.run.xml

@@ -56,9 +56,8 @@
       <file>blx-bibtex.def</file>
       <file>biblatex.def</file>
       <file>standard.bbx</file>
-      <file>authoryear.bbx</file>
-      <file>authoryear-icomp.bbx</file>
-      <file>authoryear-icomp.cbx</file>
+      <file>numeric.bbx</file>
+      <file>numeric.cbx</file>
       <file>biblatex.cfg</file>
       <file>english.lbx</file>
     </requires>

article.tex

@@ -35,11 +35,12 @@
 
 \pretitle{\begin{center}\Huge\bfseries} % Article title formatting
 \posttitle{\end{center}} % Article title closing formatting
-\title{Article Title} % Article title
+\title{\Large\Judul} % Article title
 \author{%
-\textsc{John Smith}\thanks{A thank you or further information} \\[1ex] % Your name
-\normalsize University of California \\ % Your institution
-\normalsize \href{mailto:john@smith.com}{john@smith.com} % Your email address
+\textsc{\Penulis} \\[1ex] % Your name
+%\thanks{A thank you or further information} \\[1ex] % Your name
+\normalsize \NamaUni \\ % Your institution
+% \normalsize \href{mailto:john@smith.com}{john@smith.com} % Your email address
 %\and % Uncomment if 2 authors are required, duplicate these 4 lines if more
 %\textsc{Jane Smith}\thanks{Corresponding author} \\[1ex] % Second author's name
 %\normalsize University of Utah \\ % Second author's institution
@@ -48,7 +49,16 @@
 \date{\today} % Leave empty to omit a date
 \renewcommand{\maketitlehookd}{%
 \begin{abstract}
-\noindent \blindtext % Dummy abstract text - replace \blindtext with your abstract text
+% \noindent \blindtext % Dummy abstract text - replace \blindtext with your abstract text
+Penelitian ini ditujukan untuk mengembangkan algoritma kendali formasi berdasarkan jarak
+pada multi mobile robot dimana setiap robot hanya bisa mendeteksi tetangganya saja.
+Kendali formasi berdasarkan jarak diterapkan pada model holonomic mobile robot 
+menggunakan \textit{omniwheel}.
+Algoritma \textit{cosinus} digunakan untuk menemukan koordinat tetangga
+pada kondisi awal.
+Hasil percobaan dibuktikan secara grafik dari perbandingan menggunakan algoritma dan tidak, bahwa
+penerapan algoritma dapat mendeteksi koordinat tetangga pada kondisi awal
+dan tidak mempengaruhi kendali formasi.
 \end{abstract}
 }
 
@@ -62,82 +72,17 @@
 %----------------------------------------------------------------------------------------
 %	ARTICLE CONTENTS
 %----------------------------------------------------------------------------------------
-
-\section{Pendahuluan}
-
-\lettrine[nindent=0em,lines=3]{L} orem ipsum dolor sit amet, consectetur adipiscing elit.
-\include{BAB1/art_pendahuluan}
-% \blindtext % Dummy text
-% \blindtext % Dummy text
-
-%------------------------------------------------
-
-\section{Metode}
-\include{BAB4/art_metode}
-% Maecenas sed ultricies felis. Sed imperdiet dictum arcu a egestas. 
-% \begin{itemize}
-% \item Donec dolor arcu, rutrum id molestie in, viverra sed diam
-% \item Curabitur feugiat
-% \item turpis sed auctor facilisis
-% \item arcu eros accumsan lorem, at posuere mi diam sit amet tortor
-% \item Fusce fermentum, mi sit amet euismod rutrum
-% \item sem lorem molestie diam, iaculis aliquet sapien tortor non nisi
-% \item Pellentesque bibendum pretium aliquet
-% \end{itemize}
-% \blindtext % Dummy text
-
-% Text requiring further explanation\footnote{Example footnote}.
-
-%------------------------------------------------
-
-\section{Hasil}
-\include{BAB5/art_hasil}
-
-% \begin{table}
-% \caption{Example table}
-% \centering
-% \begin{tabular}{llr}
-% \toprule
-% \multicolumn{2}{c}{Name} \\
-% \cmidrule(r){1-2}
-% First name & Last Name & Grade \\
-% \midrule
-% John & Doe & $7.5$ \\
-% Richard & Miles & $2$ \\
-% \bottomrule
-% \end{tabular}
-% \end{table}
-
-% \blindtext % Dummy text
-
-% \begin{equation}
-% \label{eq:emc}
-% e = mc^2
-% \end{equation}
-
-% \blindtext % Dummy text
-
-%------------------------------------------------
-
-\section{Diskusi}
-\include{BAB5/art_diskusi}
-
-% \subsection{Subsection One}
-
-% A statement requiring citation \cite{Figueredo:2009dg}.
-% \blindtext % Dummy text
-
-% \subsection{Subsection Two}
-
-% \blindtext % Dummy text
+\input{BAB1/art_pendahuluan}
+\input{BAB4/art_metode}
+\input{BAB5/art_hasil}
+% \input{BAB5/art_diskusi}
 
 %----------------------------------------------------------------------------------------
 %	REFERENCE LIST
 %----------------------------------------------------------------------------------------
-
 \renewcommand{\bibname}{\mybibname}
 \section{\bibname}
-\printbibliography[title=\bibname]
+\printbibliography[heading=none]
 
 %----------------------------------------------------------------------------------------
 

indent.log

@@ -0,0 +1,25 @@
+INFO: latexindent version 3.8.1, 2020-05-05, a script to indent .tex files
+      latexindent lives here: /usr/share/texlive/texmf-dist/scripts/latexindent/
+      Wed Mar 17 13:44:15 2021
+      Filename: /home/a2nr/Documents/-p-formation-control/BAB5/__latexindent_temp.tex
+INFO: Processing switches:
+      -y|--yaml: YAML settings specified via command line
+      -c|--cruft: cruft directory
+INFO: Directory for backup files and /home/a2nr/Documents/-p-formation-control//indent.log: /home/a2nr/Documents/-p-formation-control/
+INFO: YAML settings read: defaultSettings.yaml
+      Reading defaultSettings.yaml from /usr/share/texlive/texmf-dist/scripts/latexindent/defaultSettings.yaml
+INFO: YAML settings read: indentconfig.yaml or .indentconfig.yaml
+      Home directory is /home/a2nr (didn't find either indentconfig.yaml or .indentconfig.yaml)
+      To specify user settings you would put indentconfig.yaml here: /home/a2nr/indentconfig.yaml
+      Alternatively, you can use the hidden file .indentconfig.yaml as: /home/a2nr/.indentconfig.yaml
+INFO: YAML settings read: -y switch
+      Updating masterSettings with defaultIndent:     
+INFO: Phase 1: searching for objects
+INFO: Phase 2: finding surrounding indentation
+INFO: Phase 3: indenting objects
+INFO: Phase 4: final indentation check
+INFO: Output routine:
+      Not outputting to file; see -w and -o switches for more options.
+      --------------
+INFO: Please direct all communication/issues to:
+      https://github.com/cmhughes/latexindent.pl

uithesis.sty

@@ -36,10 +36,8 @@
   \linespread{1.05} % Line spacing - Palatino needs more space between lines
   \usepackage{microtype} % Slightly tweak font spacing for aesthetics
 
-  \usepackage[english]{babel} % Language hyphenation and typographical rules
 
   \usepackage[hmarginratio=1:1,top=32mm,columnsep=20pt]{geometry} % Document margins
-  \usepackage[hang, small,labelfont=bf,up,textfont=it,up]{caption} % Custom captions under/above floats in tables or figures
   \usepackage{booktabs} % Horizontal rules in tables
 
   \usepackage{lettrine} % The lettrine is the first enlarged letter at the beginning of the text
@@ -67,6 +65,8 @@
   \usepackage{titling} % Customizing the title section
 
   % \usepackage{hyperref} % For hyperlinks in the PDF
+  \usepackage{multicol}
+
 
 }
 {
@@ -218,7 +218,20 @@
 %
 % Menggunakan biblatex untuk referensi
 %
-\usepackage[backend=bibtex, style=authoryear-icomp,autocite=inline]{biblatex}
+\@ifclassloaded{article}
+{
+  \usepackage[backend=bibtex,autocite=inline]{biblatex}
+}
+{
+
+}
+\@ifclassloaded{report}
+{
+  \usepackage[backend=bibtex, style=authoryear-icomp,autocite=inline]{biblatex}
+}
+{
+
+}
 %
 % Digunakan untuk menghasilkan tabel pseudocode
 %
@@ -254,10 +267,6 @@
   round-mode          = places,
   round-precision     = 2,
 }
-%
-% Digunakan untuk penulisan formula pada caption gambar
-%
-\usepackage{caption}
 
 \usepackage{gantt}
 %-----------------------------------------------------------------------------%
@@ -354,7 +363,8 @@
   \pagestyle{fancy} % All pages have headers and footers
   \fancyhead{} % Blank out the default header
   \fancyfoot{} % Blank out the default footer
-  \fancyhead[C]{Running title $\bullet$ May 2016 $\bullet$ Vol. XXI, No. 1} % Custom header text
+  % \fancyhead[C]{Running title $\bullet$ May 2016 $\bullet$ Vol. XXI, No. 1} % Custom header text
+  \fancyhead{}
   \fancyfoot[RO,LE]{\thepage} % Custom footer tex
 }
 {
@@ -396,6 +406,28 @@
     \end{axis}
   \end{tikzpicture}
 }
+% Parameter : 1 -> no marks / only marks
+%             2 -> label untuk sumbu x
+%             3 -> label untuk sumbu y
+%             4 -> lagend entries = {plota , plotb, plot c}
+%             5 -> \addplot
+%                   table[x=<var in tabel x>,y=<var in tabel y,col sep=comma]{<path tabel>};
+\newcommand{\dataMultiGraph}[5][no marks]{
+  \begin{tikzpicture}
+    %%https://www.latex-tutorial.com/tutorials/pgfplots/
+    \begin{axis}[
+        width=\linewidth, % Scale the plot to \linewidth
+        grid=major, % Display a grid
+        grid style={dashed,gray!30}, % Set the style
+        xlabel=#2, % Set the labels
+        ylabel=#3,
+        #1,
+        legend entries = {#4}
+      ]
+      #5
+    \end{axis}
+  \end{tikzpicture}
+}
 
 %
 % Mengganti .et.al pada sitasi dengan dkk
@@ -474,7 +506,22 @@
 \newcommand{\daftaIsi}{\phantomsection \tableofcontents}
 \newcommand{\daftarGambar}{\phantomsection \listoffigures}
 \newcommand{\daftarTabel}{\phantomsection \listoftables}
-\newcommand{\kutip}[1]{\citeauthor*{#1}\space(\citeyear{#1})}
+\@ifclassloaded{report}
+{
+  \newcommand{\kutip}[1]{\citeauthor*{#1}\space(\citeyear{#1})}
+}
+{
+
+}
+
+\@ifclassloaded{article}
+{
+  \newcommand{\kutip}[1]{\cite{#1}}
+}
+{
+
+}
+
 \newcommand{\kutipLs}[1]{\citeauthor*{#1},\citeyear{#1}}
 \newcommand{\kutipLsHal}[2]{\citeauthor*{#1}, \citeyear{#1}, #2}