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It will be recreated as -% required. - -@Control{biblatex-control, - options = {3.7:0:0:1:0:1:1:0:0:0:0:0:3:1:3:1:0:0:3:1:79:+:+:none}, -} diff --git a/article.bbl b/article.bbl deleted file mode 100644 index 0d9748d..0000000 --- a/article.bbl +++ /dev/null @@ -1,441 +0,0 @@ -% $ biblatex auxiliary file $ -% $ biblatex bbl format version 3.1 $ -% Do not modify the above lines! -% -% This is an auxiliary file used by the 'biblatex' package. -% This file may safely be deleted. It will be recreated as -% required. -% -\begingroup -\makeatletter -\@ifundefined{ver@biblatex.sty} - {\@latex@error - {Missing 'biblatex' package} - {The bibliography requires the 'biblatex' package.} - \aftergroup\endinput} - {} -\endgroup - -\datalist[entry]{none/global//global/global} - \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} - \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{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} - \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{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{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{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{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{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{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 - - \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{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{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{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{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{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{CORREIA20127}{article}{} - \name{author}{3}{}{% - {{hash=CMD}{% - family={Correia}, - familyi={C\bibinitperiod}, - given={Mariane\bibnamedelima Dourado}, - giveni={M\bibinitperiod\bibinitdelim D\bibinitperiod}, - }}% - {{hash=GA}{% - family={Gustavo}, - familyi={G\bibinitperiod}, - given={André}, - giveni={A\bibinitperiod}, - }}% - {{hash=CS}{% - family={Conceição}, - familyi={C\bibinitperiod}, - given={Scolari}, - giveni={S\bibinitperiod}, - }}% - } - \keyw{Models, Friction, Parameter estimation, Autonomous mobile robots} - \strng{namehash}{CMDGACS1} - \strng{fullhash}{CMDGACS1} - \field{labelnamesource}{author} - \field{labeltitlesource}{title} - \field{abstract}{% - 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.% - } - \verb{doi} - \verb https://doi.org/10.3182/20120905-3-HR-2030.00002 - \endverb - \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 -\enddatalist -\endinput diff --git a/article.pdf b/article.pdf deleted file mode 100644 index 66209a3..0000000 Binary files a/article.pdf and /dev/null differ diff --git a/article.run.xml b/article.run.xml deleted file mode 100644 index 08723b5..0000000 --- a/article.run.xml +++ /dev/null @@ -1,92 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - 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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} -} - -%---------------------------------------------------------------------------------------- - -\begin{document} - -% Print the title -\maketitle - -%---------------------------------------------------------------------------------------- -% ARTICLE CONTENTS -%---------------------------------------------------------------------------------------- -\input{BAB1/art_pendahuluan} -\input{BAB4/art_metode} -\input{BAB5/art_hasil} -% \input{BAB5/art_diskusi} - 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-\addbibresource{OTHER/references.bib} -%---------------------------------------------------------------------------------------- -% TITLE PAGE -%---------------------------------------------------------------------------------------- - -\title[ ]{Kendali Formasi Murni Berdasarkan Jarak Menggunakan Algoritma Cosinus Pada Sistem Orde Dua} % The short title appears at the bottom of every slide, the full title is only on the title page - -\author{Anggoro Dwi Nur Rohman} % Your name -\institute[UB] % Your institution as it will appear on the bottom of every slide, may be shorthand to save space -{ -Universitas Brawijaya \\ % Your institution for the title page -\medskip -\textit{anggoro\_dwi@student.ub.ac.id} % Your email address -} -\date{\today} % Date, can be changed to a custom date - -\begin{document} - -\begin{frame} - \titlepage % Print the title page as the first slide -\end{frame} -\note{} - -%---------------------------------------------------------------------------------------- -% BAB 1 -%---------------------------------------------------------------------------------------- - -\section{Pendahuluan} -\subsection{Latar Belakang} -\begin{frame} - \frametitle{Next Section} - \tableofcontents[currentsubsection] -\end{frame} -\note{} - -\begin{frame} - \frametitle{Latar Belakang} - \begin{figure} - \centering - \includegraphics[scale=.5]{BAB1/img/presentation_journal1.png} - \end{figure} -\end{frame} -\note{ - Penelitian ini bermula dari jurnal survey oleh Kwang-Kyo dan kawan kawan. - Dimana penulis menggolongkan tentang kendali formasi kedalam beberapa klompok. - Penggolongan tersebut dirangkum dari beberapa metode yang beliauw pilih.\\ - - Beliau menggolongkan kendali formasi tersebut berdasarkan variable yang disensor, variabel yang dikendalikan, metode koordinat, dan metode interaksinya.\\ -} -\begin{frame} - \frametitle{Latar Belakang} - \begin{columns}[c] - \column{.45\textwidth} - Kendali formasi dibagi menjadi 3, yaitu : - \begin{enumerate} - \item Berdasarkan Posisi - \item Berdasarkan Perpindahan - \item Berdasarkan Jarak - \end{enumerate} - \column{.45\textwidth} - \begin{figure} - \centering - \includegraphics[scale=.4]{./BAB1/img/presentation_fig1.png} - \end{figure} - \end{columns} - \begin{figure} - \centering - \includegraphics[scale=.3]{./BAB1/img/presentation_fig2.png} - \end{figure} -\end{frame} -\note{ - \begin{itemize} - \item Posisi \\ - Variable yang diperoleh dari sensor dan variable yang dikendalikan adalah posisi dari robot.\\ - koordinat yang digunakan adalah berdasarkan koordinat global. \\ - kemampuan untuk berkomunikasi tidak begitu dibutuhkan. - \item Pergerakan \\ - Variable yang diperoleh dari sensro dan variable yang dikendalikan adalah posisi relatif terhadap tetangganya. \\ - Dapat diperhatikan pada gambar dibawah bahwa - Koordinat yang digunakan setiap robot harus disearahkan terhadap semua robot dan penyearahan koordinat tersebut berdasarkan koordinat global.\\ - Kemampuan untuk berkomunkasi dibutuhkan setiap robot untuk bertukar informasi mengenai penyearahan koordinat. - \item Jarak \\ - dapat diperhatikan juga pada gambar dibawah. - Variable yang diperoleh dari sensor adalah koordinat relatif terhadap tetangga.\\ - Variable yang kendalikan adalah jarak terhadap tetangganya.\\ - Koordinat yang digunakan setiap robot adalah koordinat local atau koordinat robot itu sendiri.\\ - Kemampuan untuk berkomunikasi sangat dibutuhkan karena setiap robot akan aktif saling bertukar informasi untuk mengetahui koordinat relatif nya masing masing. - \end{itemize} - Dari ketiga golongan tersebut jika divisualkan berdasarkan kemampuan sensor kemampuan berkomunikasi dapat lihat pada gambar disamping. \\ - Semakin golongan tersbut keatas makan metode tersebut membutuhkan kemampuan sensor yang tinggi dan semakin kebawah sebaliknya. \\ - Semakin golongan tersebut ke kanan semakin golongan tersebut membutuhkan kemampuan interaksi yang tinggi dan semakin kekiri sebaliknya. \\ - -} - - -\begin{frame} - \frametitle{Latar Belakang} - \textbf{Rangkuman dan Potensial Permasalahan}\\ - \begin{figure} - \centering - \includegraphics[scale=.55]{BAB1/img/presentation_rangkuman.png} - \end{figure} -\end{frame} -\note{ - Dari ketiga metode tersebut, formasi berdasarkan jarak merupakan metode yang dimungkinkan untuk diterapkan sensor lebih sedikit dari metode lainnya. - Teknologi komunikasi sekarang pun juga sudah bisa dikatakan bisa untuk diterapkan pada metode tersebut secara praktiknya. - Pemaparan dengan menggunakan model yang lebih real sangat dibutuhkan sebagai kontribusi dalam bidang kendali multi-robot. - Dengan harapan penerapan real model tersebut dapat bermanfaat terhadap masyarakat luas. - -} - -\subsection{Identifikasi dan Perumusan Masalah} -\begin{frame} - \frametitle{Next Section} - \tableofcontents[currentsubsection] -\end{frame} -\note{} - -\begin{frame} - \frametitle{Identifikasi dan Perumusan Masalah} - \begin{columns} - \column{.45\textwidth} - \textbf{Identifikasi} dilakukan menggunakan penelitian sebelumnya oleh \cite{Rozenheck2015}. - \begin{align*} - \dot{x}_f(t) & = A_f(x)x_f(t)+B_f(x)d+Bv_{ref} \\ - x_f(t) & = \begin{bmatrix} x & v & \xi_1 & \xi_2 \end{bmatrix}^T \\ - x & = \begin{bmatrix} x_1^T & \dots & x_n^T \end{bmatrix}^T \mathbb{R}^{2n} \\ - v & = \dot{x} \\ - x_i & \in \mathbb{R}^2 \\ - \end{align*} - \textbf{Model yang digunakan} - \begin{align*} - \dot{x}_i(t) = u_i(t), \quad i = 1, \hdots, n, - \end{align*} - \column{.45\textwidth} - \begin{figure} - \centering - \includegraphics[scale=.3]{BAB1/img/presentation_identifikasi_1.png} - \includegraphics[scale=.1]{BAB2/img/plotMotion3Robot.png} - \end{figure} - \end{columns} -\end{frame} -\note{ - \textbf{Identifikasi} \\ - Identifikasi dilakukan menggunakan penelitian sebelumnya oleh Bapak Rozenheck.\\ - Menghasilkan sebuah metode yang menggunakan kendali PI untuk analisis Kendali formasi.\\ - Metode tersebut menghasilkan formasi pada multi agent tetap terjaga ketika salah satu agent diberikan kecepatan secara konstan dan memberikan respon yang baik ketika pengaturan konstanta PI dengan tepat. - Tetapi model yang digunakan masih menggunakan model orde satu, dengan kata lain metode tersebut dimungkinkan untuk diterapkan model yang lebih komplek. - - \textit{Next} -} - -\begin{frame} - \begin{figure} - \centering - \includegraphics[scale=.27]{BAB2/img/plotMotion3Robot.png} - \end{figure} -\end{frame} -\note{} - -\begin{frame} - \frametitle{Identifikasi dan Perumusan Masalah} - \textbf{Batasan-batasan permasalahan sebagai berikut :} - \begin{enumerate} - \item Variable sensor yang digunakan adalah jarak antar individu robot. - \item Komunikasi antar robot diasumsikan ideal, dalam artian percobaan tidak dilakukan diluar jarak jangkauan prangkat komunikasi. - \end{enumerate} - - \textbf{Perumusan Masalah:} - \begin{enumerate} - \item Bagaimanakan strategi untuk kendali formasi apabila variable yang dikendalikan adalah jarak antar robot?. - \item Bagaimanakah pergerakan kendali formasi berdasarkan jarak apabila model yang digunakan adalah holonomic mobile robot ?. - \end{enumerate} -\end{frame} -\note{} - -\subsection{Tujuan dan Manfaat} - -\begin{frame} - \frametitle{Next Section} - \tableofcontents[currentsubsection] -\end{frame} -\note{} -\begin{frame} - \frametitle{Tujuan dan Manfaat} - - \textbf{Tujuan} - \begin{enumerate} - \item Mengetahui strategi untuk kendali formasi apabila variable yang dikendalikan adalah jarak antar robot. - \item Mengetahui pergerakan kendali formasi berdasarkan jarak apabila model yang digunakan adalah holonomic mobile robot. - \end{enumerate} - - \textbf{Manfaat} - \begin{enumerate} - \item Memberikan referensi untuk permasalahan kendali multi-robot, kususnya pada permasalhaan kendali formasi, terhadap model yang lebih nyata. - \item Membuka peluang penelitian dibidang kendali mengenai kendali formasi pada kendali multi-robot dilingkungan Fakultas Teknik Elektro, Universitas Brawijaya. - \end{enumerate} -\end{frame} -\note{} - -\section{Krangka Konsep Penelitian} -\begin{frame} - \frametitle{Next Section} - \tableofcontents[currentsection] -\end{frame} -\note{ -} - -\begin{frame} - \frametitle{Kerangka Konsep Penelitian} - \begin{figure} - \input{BAB3/img/structur.tex} - \end{figure} -\end{frame} -\note{ - \frametitle{Krangka Konsep Penelitian} - Berikut ini adalah krangka penelitian dimana seperti yang telah diterangkan sebelumnya. \\ - Berdasarkan literatur oleh Oh, kendali formasi dibagi menjadi tiga bagian. \\ - Pada metode berdasarkan jarak, penelitian menggunakan simple model telah banyak dilakukan. \\ - Pengembangan selanjutnya diharapkan menuju ke model real. \\ - Dalam tahap pengembangan menuju real, diperlukan pengembangan model real. \\ - Sehingga Fokus penelitian yang saya ambil adalah kendali formasi berdasarkan jarak dengan model real.\\ - \textit{Next} -} -\subsection{Definisi Permasalahan Kendali Formasi} -\begin{frame} - \frametitle{Next Section} - \tableofcontents[currentsubsection] -\end{frame} -\note{} -\begin{frame} - \frametitle{Definisi Permasalahan} - \begin{itemize} - \item Dari ketiga kategori tersebut, kendali formasi berbasis jarak sangat dibutuhkan pembahasan - mengenai penerapan metode tersebut pada agent yang nyata. - \textit{Simple model, Model real,} dan \textit{Real} dapat dikatakan sebuah tahap pengemabangan. - \item model agent yang lebih relistik (\textit{Model real}) perlu untuk dipelajari lebih lanjut untuk menambah kepraktisan metode kendali multi-agent berdasarkan jarak. - \item Peneliti sebelumnya oleh \cite{Rozenheck2015}, menggunakan \textit{Simple model} untuk mengembangkan kendali multi-robotnya. - \item \textbf{Maka, penelitian ini akan difokuskan pada kendali formasi berbasis jarak - kendali PI yang telah dilakukan sebelumnya dengan menggunakan model nyata.} - \end{itemize} -\end{frame} -\note{} - -\subsection{Permasalah dan Solusi} -\begin{frame} - \frametitle{Next Section} - \tableofcontents[currentsubsection] -\end{frame} -\note{} -\begin{frame} - \frametitle{Permasalahan dan Solusi} - \textbf{Permasalahan} - \begin{itemize} - \item state yang digunakan pada kendali formasi , - $x_f(t) = \begin{bmatrix} x & v & \xi_1 & \xi_2 \end{bmatrix}^T$, - membutuhkan koordinat relatif tetangga. - \item Batasan penelitian hanya dapat mengukur jarak terhadap tetangganya. - \item Sedangkan koordinat relatif berbentuk kartesian, - sehingga koordinat polar yang akan digunakan lalu diubah menjadi kartesian. - \item Koordinat polar membutuhkan sudut untuk dapat diubah menjadi kartesian. - \item \textbf{Karena itu, dibutuhkan algoritka kusus untuk mendapatkan sudut tersebut} - \end{itemize} - \textbf{Solusi} - \begin{itemize} - \item menggunakan hukum cosinus untuk menentukan sudut - \item robot saling mengirim informasi kecepatan kepada tetangga digunakan untuk memantau - koordinat relatif terhadap tetangga. - \item \textbf{Sebagai inisialisasi menggunakan algoritma cosinus. Selebihnya menggunakan komunikasi untuk memantau koordinat relatif tetangga} - \end{itemize} -\end{frame} -\note{} - -\section{Kajian Pustaka} -\subsection{Pemodelan Robot} -\begin{frame} - \frametitle{Next Section} - \tableofcontents[currentsubsection] -\end{frame} -\note{ - -} -\begin{frame} - \frametitle{Pemodelan Robot} - \begin{figure} - \centering - \includegraphics[scale=.3]{BAB2/img/presentasi_modelRobot_jurnal.png} - \end{figure} -\end{frame} -\note{ - - \frametitle{Pemodelan Robot} - Pemodelan robot merujuk dari penelitian sebelumnya oleh Correia.\\ - \textit{Next} -} -\begin{frame} - \frametitle{Pemodelan Robot} - \textbf{Model Robot} - \begin{figure} - \centering - \includegraphics[scale=.3]{BAB2/img/presentasi_modelRobot_model.png} - \end{figure} - - \textbf{Persamaan Newton Orde dua Model Robot} - \begin{align*} - F_{\dot{x}_r}(t) - B_{\dot{x}_r}\dot{x}_r(t) - C_{\dot{x}_r}sgn(\dot{x}_r(t)) & = M\ddot{x}_r(t) \\ - F_{\dot{y}_r}(t) - B_{\dot{y}_r}\dot{y}_r(t) - C_{\dot{y}_r}sgn(\dot{y}_r(t)) & = M\ddot{y}_r(t) \\ - \Gamma(t) - B_{\dot{\theta}}\dot{\theta}(t) - C_{\dot{\theta} }sgn(\dot{\theta}(t) ) & = I\ddot{\theta}(t) - \end{align*} -\end{frame} -\note{ - Dimana Peneliti mengembangkan sebuah model berdasarkan hukum fisika. \\ - Dari persamaan tersebut terbagi menjadi 3 persamaan yang mempresentasikan arah gerak robot\\ - \textit{Next} -} -\begin{frame} - \frametitle{Pemodelan Robot} - \textbf{Parameter dan Response} - \begin{columns} - \column{.45\textwidth} - \begin{figure} - \centering - \includegraphics[scale=.3]{BAB2/img/presentasi_modelRobot_parameter.png} - \end{figure} - \column{.45\textwidth} - \begin{figure} - \centering - \includegraphics[scale=.2]{BAB2/img/presentasi_modelRobot_velocityV.png} - \includegraphics[scale=.2]{BAB2/img/presentasi_modelRobot_velocityVn.png} - \includegraphics[scale=.2]{BAB2/img/presentasi_modelRobot_velocityW.png} - \end{figure} - \end{columns} -\end{frame} -\note{ - Peneliti juga mencantumkan konstanta yang digunakan ketika mengidentifikasi persamaan modelnya.\\ - Dan disamping ini adalah grafik respon kecepatan setiap arahnya. - \textit{Next} -} - -\section{Metode Penelitian} -\subsection{Prangkat Percobaan} -\begin{frame} - \frametitle{Next Section} - \tableofcontents[currentsubsection] -\end{frame} -\note{} -\begin{frame} - \frametitle{Prangkat Percobaan} - \textbf{Hardware-in-the-loop} \\ - Merujuk dari \cite{Jim1999} \\ - \begin{figure} - \centering - \includegraphics[scale=.4]{BAB3/img/hil_graph.png} - \end{figure} - \begin{itemize} - \item Model dijalankan di PC menggunakan bahasa pemrograman Python. - \item Sistem Tertanam menggunakan: \\ - Microcontroller STM3F466 \\ - ARM Cortex-M4 \\ - Clock 180Mhz \\ - Flash Memmory 256K \\ - Mbed Library dengan RTOS - \end{itemize} -\end{frame} -\note{ - \frametitle{Prangkat Percobaan} - \textbf{Hardware in loop} \\ - \textit{Hardware-in-the-loop} (HIL) adalah metode untuk pengembangan prangkat kendali dengan memanfaatkan model sebagai objek kendalinya. Seperti pada gambar, - bahwa HIL terdiri dari dua prangkat, yaitu prangkat untuk menjalankan objek kendali atau dapat - disebut sebagai model/plant dan prangkat sistem kontrolnya, dalam kasus ini sistem kontrol menggunakan sistem tertanam (\textit{embedded system}). - - \textit{Next} -} -\begin{frame} - \frametitle{Prangkat Percobaan} - \textbf{Hardware-in-the-loop Kendali Formasi} \\ - \begin{figure} - \centering - \scalebox{.7}{\input{BAB4/img/Diagram_hil_controller.tex}} - \end{figure} - \begin{itemize} - \item digunakan 3 prangkat sistem tertanam - \item Komunikasi dengan PC mempresentasikan aktuator dan sensor - \item Komunikasi antar kendali untuk pertukaran informasi - \end{itemize} -\end{frame} -\note{ - \textbf{Hardware-in-the-loop Kendali Formasi} \\ - Dalam penerapan multi-robot, digunakan 3 perangkat sistem tertanam untuk mempresentasikan kendali 3 robot. - Setiap prangkat pengendali akan saling terhubung satu sama lain dan semua prangkat pengendali terhubung dengan prangkat PC. - Komunikasi antar prangkat pengendali akan digunakan untuk pertukaran informasi. - Sedangkan komunikasi dengan PC akan mempresentasikan aktuator dan sensor untuk setiap prangkat - kendali. PC akan merekam setiap keluaran dari model dan masukan dari setiap prangkat kendali - sebagai tampilan pergerakan robotnya. - \textit{Next} -} -\subsection{Strategi Kendali Multi Robot} -\begin{frame} - \frametitle{Next Section} - \tableofcontents[currentsubsection] -\end{frame} -\note{} -\begin{frame} - \frametitle{Strategi Kendali Multi Robot} - \textbf{Kendali Robot} \\ - \begin{itemize} - \item Kendali Robot dengan input koordinat, output koordinat - \item Menggunakan State Feedback - \end{itemize} - \begin{figure} - \centering - \scalebox{.7}{\input{BAB4/img/statefeedback.tex}} - \end{figure} - \begin{itemize} - \item Sistem robot controlable dan observable - \item Menggunakan QLR untuk menentukan konstanta $K_s$ - \item Menggunakan rumus $N = -[C(A-BK_s)^{-1}B]^{-1}$ - \item $u < 6/12 volt$ - \end{itemize} -\end{frame} -\note{ - \small - \textbf{Kendali Robot} - \begin{itemize} - \item Sperti yang telah diketahui bahwa Kendali formasi menggunakan state koordinat robot untuk dikendalikan. - Maka input sistem robot yyang dibutuhkan adalah state tujuan berupa koordinat. - Makan sistem kendali robot ini memiliki input koordinat dan output koordinat. - \item Untuk mencapai itu digunakan state feedback - \item Syarat untuk menggunakan state feedback harus controlable dan observable. \\ - Untuk mengetahui nya parameter tersebut digunakan sistem dari penelitian sebelumnya. - \item State feedback akan dioptimalisasi menggunakan metode QLR untuk menentukan konstanta $K_s$ - \item Menggunakan inferse dari sistem akan menemukan konstanta N. - \item Dari kenyataanya bahwa $u$ memiliki batasan input, yaitu sekitar besaran 6-12 volt. \\ - Akan tetapi dalam kalkulasinya hasil perhitangan dari state feedback akan menghasilkan nilai $u$ - yang melebihi batasan tersebut. Maka secara program akan diberikan batasan nilai input dalam persamaan tersebut. - \end{itemize} - - \textit{Next} -} -\begin{frame} - \frametitle{Strategi Kendali Multi Robot} - \textbf{Respon Kendali Robot} \\ - $ r = \begin{bmatrix}6 & -3 & -90 &0 &0 &0\end{bmatrix} $ - \begin{figure} - \centering - \includegraphics[scale=.5]{BAB4/img/presentasi_respon_robot.png} - \end{figure} -\end{frame} -\note{ - \textbf{Respon Kendali Robot} \\ - - berikut adalah respon dari kendali robot. - - \textit{Next} -} -\begin{frame} - \frametitle{Strategi Kendali Multi Robot} - \textbf{Strategi penentuan koordinat tetangga} - \begin{columns} - \column{.2\textwidth} - \begin{figure} - \includegraphics[scale=.3]{BAB3/img/estimate_coordinate.png} - \end{figure} - \column{.45\textwidth} - \begin{figure} - \centering - \includegraphics[scale=.3]{BAB4/img/presentasi_algoritma_cosinus.png} - \end{figure} - \end{columns} -\end{frame} -\note{ - \textbf{Strategi penentuan koordinat tetangga} - - \begin{itemize} - \item Pertama tama akan diconfigurasi komunikasi antar robot - \item Lalu digenerate random direction - \item setelah itu mengukur jarak tetangga dengan informasi konfigurasi komunikasi - \item lalu dari hasil direksi yang random digunakan untuk menggerakkan robot dengan jarak yang telah ditentukan. - \item Setelah robot mencapai jarak tersebut dilakukan kembali pengukura jarak - \item Dari kedua hasil jarak tersebut dikalkulasi dengan rumus cosinus untuk mendapat kan sudut - \item dari sudut tersebut diubah menjadi koordinat kartesian - \end{itemize} -} -\begin{frame} - \frametitle{Strategi Kendali Multi Robot} - \textbf{Implementasi} - \begin{figure} - \centering - \scalebox{.65}{\input{BAB4/img/implement-control.tex}} - \end{figure} -\end{frame} -\note{ - \textbf{Implementasi} - \begin{itemize} - \item Implementasi akan menggabungkan antara state space kendali robot dengan kendali formasi. - \item Kendali Robot sebagai kendali tingat akhir dan kendali formasi sebagai kendali tingkat awal - \item Kendali ini akan diterapkan ke robot secara individual. Karena kendali utama membutuhkan state koordinat dari individulain, maka state koordinat tersebut digantikan dengan sensor dan algoritma yang dikembangkan - \end{itemize} -} - -\subsection{Strategi Uji Coba} -\begin{frame} - \frametitle{Next Section} - \tableofcontents[currentsubsection] -\end{frame} -\note{} -\begin{frame} - \frametitle{Strategi Uji Coba} - \textbf{Analisa Kesetabilan Model} \\ - \begin{columns}[c] - \column{.45\textwidth} - \begin{itemize} - \item Area kestabilan metode explicit euler - \end{itemize} - \begin{figure} - \centering - \includegraphics[scale=.3]{BAB2/img/equler_explicit.png} - \end{figure} - \begin{align*} - y[k+1] & = (1+h\lambda)y[k] \\ - & = (1 + z)y[k] \\ - & = R(z)y[k] - \end{align*} - \column{.45\textwidth} - \begin{itemize} - \item Persamaan Model Robot akan diimplementasi pada PC - \item Metode implementasi pada PC menggunakan Metode Explicit Euler - \item Akan dicari konstanta $h$, sampling time, sampai $z$ dalam range kesetabilan diagram disamping - \item Akan dibuktikan secara grafik - \end{itemize} - \end{columns} -\end{frame} -\note{} -\begin{frame} - \frametitle{Strategi Uji Coba} - \textbf{Analisa Algoritma Dengan Tetangga Statis} - \begin{columns} - \column{.45\textwidth} - \begin{figure} - \includegraphics[scale=.4]{BAB3/img/estimate_coordinate.png} - \end{figure} - \column{.45\textwidth} - \begin{itemize} - \item Akan dianalisa dengan membandingkan berbagai jarak ($l_a$) untuk mengetahui respon algoritma yang sesuai dan optimal - \item Menghasilkan jarak terbaik untuk algoritma cosinus. - \item Pembuktian dilakukan secara grafik. - \end{itemize} - \end{columns} -\end{frame} -\note{} -\begin{frame} - \frametitle{Strategi Uji Coba} - \textbf{Analisa Percobaan Keseluruhan}\\ - \begin{columns} - \column{.45\textwidth} - \begin{figure} - \includegraphics[scale=.1]{BAB2/img/plotMotion3Robot.png} - \end{figure} - \column{.45\textwidth} - \begin{itemize} - \item Melanjutkan analisa static dengan menjalankan semua robot - \item Akan menghasilkan grafik respon dari keseluruhan robot - \item Hipotesis nya adalah keseluruhan robot akan menjaga jarak formasi dengan baik - \end{itemize} - \end{columns} - -\end{frame} -\note{} -\section{End} -\begin{frame} - \Huge{\centerline{The End}} - -\end{frame} -\note{} -\begin{frame} - \frametitle{Daftar Pustaka} - - \printbibliography -\end{frame} -\note{} -\end{document} \ No newline at end of file diff --git a/presentasi_proposal.pptx b/presentasi_proposal.pptx deleted file mode 100644 index d868cda..0000000 Binary files a/presentasi_proposal.pptx and /dev/null differ diff --git a/syarat yudisium dan wisuda.pdf b/syarat yudisium dan wisuda.pdf deleted file mode 100644 index bfabed7..0000000 Binary files a/syarat yudisium dan wisuda.pdf and /dev/null differ diff --git a/thesis-converted.docx b/thesis-converted.docx deleted file mode 100644 index e5166be..0000000 Binary files a/thesis-converted.docx and /dev/null differ diff --git a/thesis.pdf b/thesis.pdf index 801eb16..7fdb1e3 100644 Binary files a/thesis.pdf and b/thesis.pdf differ