From da872eff0253860d5881570d428775b02e038bee Mon Sep 17 00:00:00 2001 From: a2nr Date: Wed, 22 Jan 2020 13:52:12 +0700 Subject: [PATCH] Update sub bab analisa --- .gitignore | 3 + BAB2/bab2.tex | 80 +- BAB3/bab3.tex | 2 +- BAB4/bab4.tex | 220 ++++-- BAB4/img/Diagram_hil_controller.dia | Bin 0 -> 1924 bytes BAB4/img/Diagram_hil_controller.tex | 215 ++++++ BAB4/img/implement-control.dia | Bin 0 -> 4321 bytes BAB4/img/implement-control.tex | 725 ++++++++++++++++++ BAB5/bab5.tex | 132 ++-- OTHER/CITESRC/07074770.pdf | Bin 0 -> 149705 bytes ...ournal_of_Robust_and_Nonlinear_Control.pdf | Bin 0 -> 285877 bytes OTHER/references.bib | 15 + thesis.bbl | 553 ------------- thesis.blg | 85 -- 14 files changed, 1228 insertions(+), 802 deletions(-) create mode 100644 BAB4/img/Diagram_hil_controller.dia create mode 100644 BAB4/img/Diagram_hil_controller.tex create mode 100644 BAB4/img/implement-control.dia create mode 100644 BAB4/img/implement-control.tex create mode 100644 OTHER/CITESRC/07074770.pdf create mode 100644 OTHER/CITESRC/Oh_et_al-2014-International_Journal_of_Robust_and_Nonlinear_Control.pdf delete mode 100644 thesis.bbl delete mode 100644 thesis.blg diff --git a/.gitignore b/.gitignore index 2fd10eb..c56bb76 100644 --- a/.gitignore +++ b/.gitignore @@ -8,3 +8,6 @@ thesis.out thesis.pdf thesis.synctex.gz thesis.toc +*.dia~ +thesis.bbl +thesis.blg diff --git a/BAB2/bab2.tex b/BAB2/bab2.tex index 5bb3e52..108b884 100644 --- a/BAB2/bab2.tex +++ b/BAB2/bab2.tex @@ -219,71 +219,83 @@ Pembahasan kendali dari formasi multi robot menggunakan gradient control. Apabila $n(n\geq 2)$ dimodelkan sebagai titik yang memiliki masa jenis bergerak diatas dimensi 2(\textit{Euclidean Space}), maka pergerakan dimodelkan dengan \begin{align} - \dot{x}_i(t) = u_i(t), \quad i = 1, \dots, n. \label{eq:modelorde1} + \begin{cases} + \dot{x}_i(t) = & v_i(t) \quad i = 1, \dots, n. \\ + \dot{v}_i(t) = & u_i(t) + \end{cases} + \label{eq:modelorde2} \end{align} -dimana $x_i(t) \in \mathbb{R}^2$ adalah posisi dari robot-$i$ dan $u_i(t)\in \mathbb{R}^2$ -adalah input dari kendali. Dinotasikan $d \in \mathbb{R}^m$ adalah vector jarak dimana isi +dimana $v_i(t) \in \mathbb{R}^2$ dan $u_i(t)\in \mathbb{R}^2$adalah kecepatan dan input dari robot-$i$. Dinotasikan $d \in \mathbb{R}^m$ adalah vector jarak dimana isi dari matrik tersebut adalah $d_k^2$ yang mempresentasikan jarak yang dinginkan antara setiap robot $i$ dan $j$ untuk sisi $(i,j)\in \sisi$. Lalu didefinisi persamaan potensial yang memiliki hubungan antara jarak robot yang diinginkan dengan jarak yang sekarang \begin{align} - \Phi(e) & = \frac{1}{2} \sum_{k=1}^{m} \big( ||e_k||^2 - d_k^2 \big)^2 + \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} Pengamatan dilakukan agar $\Phi(e) =0$ jika dan hanya jika $||e_k||^2 = d_k^2,$ $\forall k = 1, \dots, m$. Kendali dari setiap robot menggunakan gradien negatif dari fungsi potensial \begin{align} - u_i(t) & = - \Big( \frac{\partial \Phi(e)}{\partial x_i} \Big)= -\sum_{j \sim i} \Big( ||e_k||^2 - d_k^2 \Big)e_k + \begin{cases} + \dot{x} & = \frac{\partial \Phi(e)}{\partial v} + Bv_{ref} \\ + & = v(t) + Bv_{ref} \\ + \dot{v} & = -C \Big( \frac{\partial \Phi(e)}{\partial v} + \frac{\partial \Phi(e)}{\partial v} \Big) \\ + & = -C(v(t) + R(x)^T(R(x)x(t) - d )) \\ + & = u(t) + \end{cases} +\label{eq:dynmState} \end{align} -Dengan itu, dapat disubtitusi kedalam persamaan dinamika pada persamaan~\eqref{eq:modelorde1} -\begin{align} - \dot{x}(t) = -R(x)^TR(x)x(t)+ R(x)^Td \label{eq:dynmState} -\end{align} -Penambahan refresni kecepatan pada salah satu robot dapat menjadikan formasi bermanuver. -Skema kendali secara general dapat didefinisi dengan -\begin{align} - \dot{x}(t) & = u(t) + Bv_{ref} \\ - u(t) & = -R(x)^TC\Big(R(x)x(t)- d\Big) \label{eq:kontrolinput} -\end{align} -dimana $B \in \mathbb{R}^{2n \times 2}$ digunakan untuk indikasi robot ke $i$ sebagai leader atau penerima kecepatan referensinya -, $v_{ref} \in \mathbb{R}^2$ sebagai kecepatan referensi, +Dimana $v \in \mathbb{R}^{2n}$ adalah vector kecepatan dari seluruh node. Penambahan refrensi kecepatan pada salah satu robot dapat menjadikan formasi bermanuver. +Dimana $B \in \mathbb{R}^{2n \times 2}$ digunakan untuk indikasi robot ke $i$ sebagai leader atau penerima kecepatan referensinya, $v_{ref} \in \mathbb{R}^2$ sebagai kecepatan referensi, dan $C$ adalah konstanta pengendali yang akan digantikan dengan algoritma kendali. Dengan menerapkan kendali Proportional-Integral, konstanta $C$ pada persamaan~\eqref{eq:kontrolinput} dapat diubah dengan + \begin{align} - u(t) & = u_{k_p}(t) + u_{k_i}(t) \\ - u_{k_p}(t) & = -R(x)^Tk_p\Big(R(x)x(t)- d\Big) \\ - u_{k_i}(t) & = -R(x)^Tk_i\int_0^T\Big(R(x)x(\tau)- d\Big)d\tau + \begin{cases} + u_i(t) & = u_{k_{p1}}(t) + u_{k_{i1}}(t) + u_{k_{p1}}(t) + u_{k_{i1}}(t) \\ + u_{k_{p1}}(t) & = -k_{p1}v_i(t) \\ + u_{k_{p2}}(t) & = -R(x_1)^T k_{p2}(R(x_1)x_1(t) - d )) \\ + u_{k_{i1}}(t) & = -k_{i1} \int_0^\tau x_2(\tau) d\tau \\ + u_{k_{i2}}(t) & = -R(x_1)^T k_{i2} \int_0^{\tau} (R(x_1)x_1(\tau) - d )) d\tau + \end{cases} +\label{eq:kontrolinput} \end{align} Lalu pada bagian integrator( $k_i$ ), menghasilkan \textit{state} baru \begin{align} - \dot{\xi}(t) & = k_i\Big(R(x)x(t)- d\Big) + \begin{cases} + \dot{\xi}_1 =& -k_{i1} v(t)\\ + \dot{\xi}_2 =& -k_{i2} (R(x_1)x(t) - d + \end{cases} \end{align} Dengan itu dapat digabungkan menjadi persamaan \textit{state-space} menggunakan persamaan~\eqref{eq:dynmState} -\begin{align} + +\begin{align*} \begin{bmatrix} - \dot{x}(t) \\ \dot{\xi}(t) - \end{bmatrix} = + \dot{x} \\ \dot{v} \\ \dot{\xi}_1 \\ \dot{\xi}_2 + \end{bmatrix} &= \begin{bmatrix} - -k_pR(x)^TR(x) & -R(x)^T \\ - k_iR(x) & 0 + 0 & 1 & 0 & 0\\ + -k_{p2}R(x)^T R(x) & -k_{p1} & -1 & -R(x)^T \\ + 0 & k_{i1} & 0 & 0 \\ + k_{i2}R(x) & 0 & 0 & 0 \\ \end{bmatrix} \begin{bmatrix} - x(t) \\ \xi(t) - \end{bmatrix}+ + x \\ v \\ \xi_1 \\ \xi_2 + \end{bmatrix} + \begin{bmatrix} - k_pR(x)^T \\ -k_iI - \end{bmatrix} d + - \begin{bmatrix} - B \\ 0 - \end{bmatrix} v_{ref} + 0 \\ k_{p2}R(x)^T \\ 0 \\ -k_{i2} + \end{bmatrix} d+Bv_{ref} \nonumber \\ +\end{align*} +\begin{align} + \dot{x}_f(t) &= A_f(x)x_f(t)+B_f(x)d+Bv_{ref} \label{eq:ss-formasi} \end{align} %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% \section{Solusi Persamaan Differensial Secara Numerik} -\label{bab:solusi_ODE} +\label{bab:dua:solusi_ODE} Persamaan \eqref{eq:ss1} dan \eqref{eq:ss2} adalah persamaan differensial kontinu orde satu. Dalam memecahkan persamaan differensial dapat dilakukan dalam bentuk kontinyu atau numerik. diff --git a/BAB3/bab3.tex b/BAB3/bab3.tex index 685c9c4..f9a0013 100644 --- a/BAB3/bab3.tex +++ b/BAB3/bab3.tex @@ -31,7 +31,7 @@ Gagasan agent \textit{simple model} tersebut memiliki manfaat ketika menginvesti Dengan bertambahnya kepraktisan pada metode tersebut diharapkan dapat diterapkan dalam agent secara \textit{Real}. Pada penelitian oleh \kutip{Rozenheck2015}, kendali formasi berdasarkan jarak dikendalikan menggunakan kendali PI dan menghasilkan pergerakan yang baik. -Dapat diperhatikan pada persamaan~\eqref{eq:modelorde1} bahwa peneliti menggunakan \textit{Simple model} untuk mengembangkan kendali multi-robotnya. +Dapat diperhatikan pada persamaan~\eqref{eq:modelorde2} bahwa peneliti menggunakan \textit{Simple model} untuk mengembangkan kendali multi-robotnya. Maka, penelitian ini akan difokuskan pada kendali formasi berbasis jarak kendali PI yang telah dilakukan sebelumnya dengan menggunakan model nyata. \section{Permasalah dan Solusi} diff --git a/BAB4/bab4.tex b/BAB4/bab4.tex index 7ed31e8..bca1440 100644 --- a/BAB4/bab4.tex +++ b/BAB4/bab4.tex @@ -1,10 +1,58 @@ \chapter{\babEmpat} +\section{Perangkat Percobaan} +Sub bab ini akan dibahas mengenai prangkat penunjang sebagai pembatu dalam menyelesaikan penelitian. +Sebagai langkah awal pengembangan, metode yang digunakan adalah \textit{Hardware-In Loop}. +\begin{figure} +\centering + \includegraphics[scale=.5]{BAB3/img/hil_graph.png} + \caption{Hardware-in-the-loop (\kutip{Jim1999}). } + \label{fig:hil_graph} +\end{figure} + +\textit{Hardware-in-the-loop} (HIL) adalah metode untuk pengembangan prangkat kendali dengan memanfaatkan model sebagai objek kendalinya. Seperti pada gambar~\ref{fig:hil_graph}, +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}). +Metode HIL, banyak digunakan oleh peneliti dalam proses pengembangan dengan pertimbangan efisiensi terhadap berbagai hal. +Seperti yang digunakan oleh~\kutip{Irwanto2018}, mengembangkan kendali UAV menggunakan HIL; +dan \kutip{QUESADA2019275}, mengembangkan prangkat pankreas buatan yang digunakan untuk mengendalikan kadar gula pada pengidap diabetes. + +\begin{figure} +\centering + \input{BAB4/img/Diagram_hil_controller.tex} + \caption{HIL Kendali Multi-Robot.} + \label{fig:hil_graph_1} +\end{figure} + +Pada penelitian ini akan digunakan \textit{microcontroller}(MCU) STM32F466 sebagai prangkat kendalinya. +MCU tersebut ber-arsitektur ARM Cortex-M4 dengan clock 180MHz, menampung ukuran program sampai 256K didalam memori Flash, serta fitur komunikasi standart MCU dengan lengkap. +\textit{Platform Library} yang digunakan dalam pembuatan aplikasi didalamnya adalah \textit{Mbed}, +yang menyediakan berbagai banyak fungsi yang lengkap dan mudah untuk berinteraksi dengan fitur-fitur MCU. \textit{Mbed} juga menyediakan fungsi untuk mengaplikasikan RTOS (Real-time Operating System) dengan mudah dan terdokumentasi secara jelas didalam lamannya. +Pada prangkat PC akan dikembangkan program berbasis \textit{Python} yang akan +menjalankan simulasi model dan berkomunikasi dengan MCU secara \textit{real-time}. +Program \textit{Python} akan menjalankan model pada persamaan~\eqref{eq:ss1}-\eqref{eq:ss2} +dengan metode yang dijabarkan pada sub bab~\ref{bab:dua:solusi_ODE}. +Dalam penerapan multi-robot, digunakan 3 perangkat sistem tertanam untuk mempresentasikan kendali 3 robot (Gambar.~\ref{fig:hil_graph_1}). +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. + +\todo{ + Tambahkan subsection mengenai + \begin{itemize} + %% \item pengembangan data/akuisisi data ? + % \item skenario pengujian/simulasi? (lebih ke teknis seperti lapangan environtment dll) + % \item skenario Analisa hasil + \item jadwal penelitian + \end{itemize} +} + \section{Strategi Kendali Multi Robot} -Analisa akan dilakukan dalam beberapa bagian agar mudah dipahami dan diterapkan. -Analisa tersebut adalah mengenai kendali dari model dinamika robot dan kendali formasi, -dan mengenai metode percobaan akan dibahas secara matematis, simulasi, dan HIL.\ +Pembahasan strategi akan dibagi menjadi dua bagian, yaitu kendali tingkat bawah dan kendali tingkat atas. +Kendali tingkat bawah akan membahas mengenai kendali robot secara individu, sedangkan kendali tingkat atas akan dibahas mengenai penggabungan antara kendali tingkat bawah dan atas. \subsection{Kendali Robot} Pada kendali robot akan dibahas mengenai analisis kendali robot menggunakan @@ -56,7 +104,6 @@ kendalinya dibutuhkan Observer. Dimana tugasnya adalah mengestimasi state pada sistem dengan membandingkan keluaran dan masukan. Syarat untuk dapat diterap- kan state feedback, sistem harus observable dan controlable. Berikut adalah rumus untuk menguji apakah sistem bersifat controlable atau tidak (Dorf, dkk (2010)). - \begin{align*} P_c = \begin{bmatrix} B & AB & A^2B & \dots & A^{n-1}B \end{bmatrix}\end{align*} \begin{align} rank[P_c] = n \end{align} Apabila hasil dari $rank(P_c ) \neq n$ maka sistem tidak \textit{fully controlable}. Sedangkan untuk @@ -64,12 +111,39 @@ menguji observabilitas dapat menggunakan rumus berikut. \begin{align*} P_o = \begin{bmatrix} C \\ CA \\ CA^2 \\ \vdots \\ CA^{n-1} \end{bmatrix}\end{align*} \begin{align} rank[P_o] = n \end{align} Apabila sistem observable, rank dari matriks Observablity $P_o$ sama dengan besar orde sistem. -Menggunakan parameter robot oleh~\kutip{CORREIA20127} yang diterapkan pada per- -samaan~\eqref{eq:ss1}-\eqref{eq:ss2}, hasil pengujian controlable $rank[P_c] = 6$, maka dapat disim- -pulkan sistem robot controlable. Hasil pengujian observable $rank[P o] = 6$, maka -sistem robot juga observable. Karena pengukuran pada setiap \textit{state} dapat dilakukan, +Menggunakan parameter robot pada Tabel~\ref{tab:param_model} untuk diimplementasi pada persamaan~\eqref{eq:ss1}-\eqref{eq:ss2} akan menghasilkan $rank[P_c]=6$ dan $rank[P o] = 6$ . +Maka dari itu dapat disimpulkan sistem robot adalah controlable dan observable. +Karena pengukuran pada setiap \textit{state} dapat dilakukan, maka \textit{observer} tidak dibutuhkan dalam desain kendali robot. +\begin{table} + \caption{Parameter model oleh~\kutip{CORREIA20127}} + \label{table:parameter_model} + \begin{center} + \begin{tabular}{| c | c | c |} + \hline + Simbol & Deskripsi & Nilai\\ \hline + $B_v (N/m/s)$ & viscous friction coefficient related to v & 0.94 \\ + $B_{vn} (N/m/s)$ & viscous friction coefficient related to vn & 0.96 \\ + $B_\omega (N/rad/s)$ &viscous friction coefficient related to $\omega$ & 0.01 \\ + $C_v (N )$ & coulomb friction coefficient related to v & 2.2 \\ + $C_{vn} (N )$ & coulomb friction coefficient related to vn & 1.5 \\ + $C_\omega (N.m)$ & coulomb friction coefficient related to $\omega$ & 0.099 \\ + $b(m)$ & radius of the robot & 0.1 \\ + $M (kg)$ & mass of the robot & 1.5 \\ + $In(kg.m^2 )$ & inertia moment of the robot & 0.025 \\ + $\delta$ & angle & $30^\circ$ \\ + $r_1 , r_2 , r_3 (m)$ &radius of the wheels & 0.035 \\ + $l_1, l_2, l_3$ & reduction of the motors & 19:1 \\ + $L_{a1...3} (H)$ & motor’s armature inductance & 0.00011 \\ + $R_{a1...3} (\Omega)$ & motor’s armature resistance & 1.69 \\ + $K_v (V olts/rad/$s) & motor’s emf constant & 0.0059 \\ + $K_{t1...3}$ (N.m/A) & motor’s torque constant & 0.0059\\ + \hline + \end{tabular} + \end{center} + \label{tab:param_model} +\end{table} \subsubsection{Desain Kendali} Berdasarkan \kutip{Richard2010}, bahwa kendali optimal berdasarkan indeks kinerja sistem. Indeks tersebut adalah hasil dari meminimalisasi pada integral kuadrat error atau \textit{integration square error} (ISE). @@ -134,8 +208,11 @@ Berikut adalah persamaan \textit{input refrence} sebagai penambah dari \textit{s \end{align} Sehingga persamaan \textit{state space} menjadi berikut. \begin{align} - \dot{x} & = (A-BK_s)x + BNr \\ - y & = Cx + \begin{cases} + \dot{x} & = (A-BK_s)x + BNr \\ + y & = Cx + \end{cases} + \label{eq:ss-control-robot} \end{align} Untuk mendapatkan nilai $N$ maka dapat diasumsikan bahwa sistem dalam keadaan \textit{steady state}, yaitu $\dot{x} = 0$, sehingga persamaan state space menjadi berikut. \begin{align} @@ -213,10 +290,13 @@ Apabila hanya variable jarak tersebut sebagai acuan kendali, maka robot tidak me harusnya robot itu bergerak untuk meminimalisasi error jaraknya. \subsubsection{Strategi Penentuan Koordinat Tetangga} +\label{bab:empat:Strategi_koordinat_tetangga} + Penentuan koordinat tentangga dapat ditemukan dengang mengubah koordinat polar menjadi koordinat kartesian. -Koordinat polar membutuhkan panjang, $d_a$, dan sudut, $\alpha$. -Variable $d_a$ dapat diperoleh dari sensor, akan tetapi sudu $\alpha$ tidak bisa dideteksi secara langsung oleh sensor. -Dengan menggunakan \textit{cosinus} pada segitiga dimungkinkan untuk mendapatkan sudut tersebut. +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. \begin{figure} \centering @@ -245,8 +325,8 @@ Sehingga diperlukan sedikit algoritma \end{cases}.\label{eq:init_relatif_koordinat} \end{align} -Strategi pada gambar~\ref{fig:strategiPenentuanKoordinat} hanya berlaku apabila target ukur berhenti. Apabila dinotasikan koordinat $x_B^A$ adalah koordinat relatif robot $B$ terhadap $A$, -maka $\dot{x}_B^A$ adalah notasi kecepatan koordinat dari robot B. +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 @@ -267,57 +347,71 @@ 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 pada kondisi inisial. -\section{Kestabilan Perangkat Percobaan} -Sub bab ini akan dibahas mengenai prangkat penunjang sebagai pembatu dalam menyelesaikan penelitian. -Sebagai langkah awal pengembangan, metode yang digunakan adalah \textit{Hardware-In Loop}. +\todo{ buat psudo code dari algoritma ini, sehingga dapat di ambil referensi ke bab lain} +\begin{algorithm} + \DontPrintSemicolon + TODO: make your algo here ! + \label{algo:solution_purpose} +\end{algorithm} +\subsubsection{Implementasi Kendali Formasi Dengan Kendali Robot} + +Implementasi kendali formasi pada kendali robot akan menggabungkan persamaan state space pada~\eqref{eq:ss-formasi} dengan persamaan~\eqref{eq:ss-control-robot}. +Implementasi ini akan menjadikan persamaan~\eqref{eq:ss-formasi} sebagai kendali utama sedangkan pada persamaan~\eqref{eq:ss-control-robot} adalah kendali tingkat bawah. +Kendali utama akan diberikan input berupa jarak, $d$, sebagai tujuan pengendali. Sedangkan keluaran dari kendali tersebut adalah koordinat yang perlu dicapai oleh kendali tingkat bawah. +Pembahasan akan diambil dari sudut pandang robot secara individual. +Dengan menulis ulang persamaan~\eqref{eq:ss-control-robot} dengan notasi baru akan lebih mudah dalam penjelasaan lebih lanjut. +\begin{align} + \begin{cases} + \dot{x_r} & = (A_r-B_rK_s)x_r + B_rN_rr \\ + y_r & = C_rx_r + \end{cases} + \label{eq:ss-control-robot-implement} +\end{align} +Apabila diasumsikan state pada persamaan~\eqref{eq:ss-formasi} sebagai berikut +\begin{align*} + x(t) &= \begin{bmatrix} + y_r^T & y_{rj1}^T & y_{rj2}^T & \dots & y_{rjn}^T + \end{bmatrix}^T , \quad (i,jn) \in \sisi +\end{align*} +maka $y_{rjn}$ adalah koordinat yang didapat dari algoritma atau hasil pengiriman data dari robot tetangga. +Sedangkan $r$ pada persamaan~\eqref{eq:ss-control-robot-implement} adalah koordinat refrensi yang dihasilkan dari persamaan~\eqref{eq:ss-formasi}, $r = C_fx(t)$. Untuk lebih mudah dalam memahami dapat diperhatikan diagram pada gambar~\ref{fig:all-control} + \begin{figure} \centering - \begin{subfigure}[t]{.4\textwidth} - \includegraphics[scale=.5]{BAB3/img/hil_graph.png} - \caption{} - \label{fig:hil_graph} - \end{subfigure} - \begin{subfigure}[t]{.4\textwidth} - \includegraphics[scale=.5]{BAB3/img/hil_graph_1.png} - \caption{} - \label{fig:hil_graph_1} - \end{subfigure} - \caption{(a)Grafik Hardware-in-the-loop (\kutip{Jim1999}). (b) HIL Kendali Multi-Robot. } + \input{BAB4/img/implement-control.tex} + \caption{Kendali keseluruhan} + \label{fig:all-control} \end{figure} -\textit{Hardware-in-the-loop} (HIL) adalah metode untuk pengembangan prangkat kendali dengan memanfaatkan model sebagai objek kendalinya. Seperti pada gambar~\ref{fig:hil_graph}, -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}). -Metode HIL, banyak digunakan oleh peneliti dalam proses pengembangan dengan pertimbangan efisiensi terhadap berbagai hal. -Seperti yang digunakan oleh~\kutip{Irwanto2018}, mengembangkan kendali UAV menggunakan HIL; -dan \kutip{QUESADA2019275}, mengembangkan prangkat pankreas buatan yang digunakan untuk mengendalikan kadar gula pada pengidap diabetes. -Pada penelitian ini akan digunakan \textit{microcontroller}(MCU) STM32F466 sebagai prangkat kendalinya. -MCU tersebut ber-arsitektur ARM Cortex-M4 dengan clock 180MHz, menampung ukuran program sampai 256K didalam memori Flash, serta fitur komunikasi standart MCU dengan lengkap. -\textit{Platform Library} yang digunakan dalam pembuatan aplikasi didalamnya adalah \textit{Mbed}, -yang menyediakan berbagai banyak fungsi yang lengkap dan mudah untuk berinteraksi dengan fitur-fitur MCU. \textit{Mbed} juga menyediakan fungsi untuk mengaplikasikan RTOS (Real-time Operating System) dengan mudah dan terdokumentasi secara jelas didalam lamannya. -Pada prangkat PC akan dikembangkan program berbasis \textit{Python} yang akan -menjalankan simulasi model dan berkomunikasi dengan MCU secara \textit{real-time}. -Program \textit{Python} akan menjalankan model pada persamaan~\eqref{eq:ss1}-\eqref{eq:ss2} -dengan metode yang dijabarkan pada sub bab~\ref{bab:solusi_ODE}. -Dapat diperhatikan pada gambar~\ref{fig:hil_graph_1}, pada HIL untuk kendali multi robot akan -menggunakan tiga kendali untuk mempresentasikan tiga 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. +\section{Strategi Uji Coba} +Strategi ujicoba akan diawali dengan menghitung kesetabilan menggunakan teori Euler pada Bab \ref{bab:dua:solusi_ODE}. +Langkah selanjutnya adalah percobaan terhadap Algoritma~\ref{algo:solution_purpose} dengan kondisi robot tetangga dalam keadaan statis. +Percobaan tersebut bermaksut untuk menguji apakah algoritma berjalan dengan benar. +Langkah terakhir adalah percobaan keseluruhan robot menggunakan Algoritma yang dikembangkan +dengan skenario percobaan yang sama dengan penelitian sebelumnya oleh \kutip{Rozenheck2015}. -\todo{ - Tambahkan subsection mengenai - \begin{itemize} - \item pengembangan data/akuisisi data ? - \item skenario pengujian/simulasi? (lebih ke teknis seperti lapangan environtment dll) - \item skenario Analisa hasil - \item jadwal penelitian - \end{itemize} -} -\subsection{Rencana Hardware-in-Loop} -\todo{kutip hasil HIL yang sudah ada lalu gabungkan model dan kendali jadi satu secara sederhana} -\subsection{Rencana Uji Lapangan} -\todo{Membahas mengenai cara pengambilan data penerapan pada robot aslinya} +\subsection{Analisa Kesetabilan Model} +Perhitungan kesetabilan akan menggunakan parameter model dari penelitian sebelumnya, dapat diperhatikan di Tabel \ref{tab:param_model}. +Parameter tersebut akan diimplementasi di persamaan~\eqref{eq:ss1}-\eqref{eq:ss2}. +Lalu ditentukan waktu sample dan diubah menjadi persamaan diskrit meggunakan persamaan~\eqref{eq:disstab}. +Setelah itu akan diuji menggunakan diagram Gambar.\ref{fig:explicit_euler} untuk mengetahui kesetabilan model. + +Dari hasil analisa ini akan menghasilkan parameter waktu sampling ($h$) untuk menjalankan Algoritma~\ref{algo:eEuler}. +Pembuktian secara grafik sangat dibutuhkan untuk mengetahui respon model. + +\subsection{Analisa Algoritama Dengan Tetangga Statis} + +Telah dijelaskan pada Bab \ref{bab:empat:Strategi_koordinat_tetangga} bahwa robot bergerak kearah yang random dengan jarak tertentu untuk mengetahui koordinat tetangga. +Analisa akan dilakukan dengan membandingkan berbagai jarak dari tinggat rendah, sedang, dan tinggi untuk mengetahui respon algoritma yang sesuai dan optimal untuk mendapatkan koordinat tetangga. + +Dari hasil analisa ini akan menghasilkan jarak terbaik untuk algoritma menentukan koordinat tetangga. Pembuktian akan dilakukan secara menampilkan grafik respon. + +\subsection{Analisa Percobaan Keseluruhan} + +Percobaan keseluruhan akan menjalankan Algoritma \ref{algo:solution_purpose} yang diterapkan pada seluruh robot. Lalu, seperti skenario penelitian sebelumnya salah satu robot diberikan kecepatan refrensi untuk bergerak ke arah tertentu. + +Dari hasil percobaan ini akan menghasilkan grafik respon dari keseluruhan robot terhadap perubahan error yang terjadi. +Dengan hipotesis, keseluruhan robot akan menjaga jarak formasi dengan baik. + +%% \subsection{ diff --git a/BAB4/img/Diagram_hil_controller.dia b/BAB4/img/Diagram_hil_controller.dia new file mode 100644 index 0000000000000000000000000000000000000000..d82bc5f08e0fd8981b29aefef091caf38a8ebcd4 GIT binary patch literal 1924 zcmV-~2YdJ*iwFP!000021MOT}Z`(E$e$THk+&;QA@0Yqsu@)%yuwet%JsYyEI$CAP zkd)iYe)|q3CB7<7B-6=S3P=Je)cJHM^7{@CNqzWuyNG+&VU|Z}a^5Eh_j_S7O=nRu zKkxtj^~*cm|9ElsVHO4N;b)!&iyqvOVS-&b(mz$<>n)R-O z_`Lt-TY2<{wVC0DokwghgLyc~!r*(eX$*%kZA>r2Y}@Q&ndT7`Dejg#MH=kb-)m*+ zQaKb#<`-{%;cu!(sxPc;?R(HhkYW*J^C;QHfx3ySil9hSN})1@(FQB7$bFqWA8vA5 zxcIbi*=gaTe7sDvA`7Bo7jlxOaTp{OYLQ)q?Q!yH5JMAt%&iVye2a=AJ@EYBf;fMQ 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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.}, +year = {2014} +} diff --git a/thesis.bbl b/thesis.bbl deleted file mode 100644 index bce9808..0000000 --- a/thesis.bbl +++ /dev/null @@ -1,553 +0,0 @@ -% $ biblatex auxiliary file $ -% $ biblatex bbl format version 2.9 $ -% 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]{nyt/global//global/global} - \entry{Cao2007}{inproceedings}{} - \name{author}{5}{}{% - {{hash=CM}{% - family={{Cao}}, - familyi={C\bibinitperiod}, - given={M.}, - giveni={M\bibinitperiod}, - }}% - {{hash=MAS}{% - family={{Morse}}, - familyi={M\bibinitperiod}, - given={A.\bibnamedelima S.}, - giveni={A\bibinitperiod\bibinitdelim S\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.}, - 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} - \field{labelnamesource}{author} - \field{labeltitlesource}{title} - \field{labelyear}{2007} - \field{labeldatesource}{year} - \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.% - } - \field{booktitle}{2007 46th IEEE Conference on Decision and Control} - \verb{doi} - \verb 10.1109/CDC.2007.4434757 - \endverb - \field{issn}{0191-2216} - \field{pages}{3603\bibrangedash 3608} - \field{title}{Controlling a triangular formation of mobile autonomous - agents} - \field{year}{2007} - \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{labelyear}{2012} - \field{labeldatesource}{year} - \field{sortinit}{C} - \field{sortinithash}{C} - \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 - - \entry{Richard2010}{book}{} - \name{author}{2}{}{% - {{hash=DR}{% - family={Dorf}, - familyi={D\bibinitperiod}, - given={Richard}, - giveni={R\bibinitperiod}, - }}% - {{hash=BR}{% - family={Bishop}, - familyi={B\bibinitperiod}, - given={Robert}, - giveni={R\bibinitperiod}, - }}% - } - \strng{namehash}{DRBR1} - \strng{fullhash}{DRBR1} - \field{labelnamesource}{author} - \field{labeltitlesource}{title} - \field{labelyear}{2010} - \field{labeldatesource}{year} - \field{sortinit}{D} - \field{sortinithash}{D} - \field{isbn}{ISBN-10: 0136024580; ISBN-13: 978-0136024583} - \field{title}{Modern Control Systems, 12th Edition} - \field{month}{07} - \field{year}{2010} - \endentry - - \entry{Fabien2009}{inbook}{} - \name{author}{1}{}{% - {{hash=FB}{% - family={Fabien}, - familyi={F\bibinitperiod}, - given={Brian}, - giveni={B\bibinitperiod}, - }}% - } - \list{publisher}{1}{% - {Springer US}% - } - \strng{namehash}{FB1} - \strng{fullhash}{FB1} - \field{labelnamesource}{author} - \field{labeltitlesource}{title} - \field{labelyear}{2009} - \field{labeldatesource}{year} - \field{sortinit}{F} - \field{sortinithash}{F} - \field{booktitle}{Analytical System Dynamics: Modeling and Simulation} - \verb{doi} - \verb 10.1007/978-0-387-85605-6_5 - \endverb - \field{isbn}{978-0-387-85605-6} - \field{pages}{1\bibrangedash 59} - \field{title}{Numerical Solution of ODEs and DAEs} - \verb{url} - \verb https://doi.org/10.1007/978-0-387-85605-6_5 - \endverb - \list{location}{1}{% - {Boston, MA}% - } - \field{year}{2009} - \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{labelyear}{2013} - \field{labeldatesource}{year} - \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{Hacene2019}{article}{} - \name{author}{2}{}{% - {{hash=HN}{% - family={Hacene}, - familyi={H\bibinitperiod}, - given={Nacer}, - giveni={N\bibinitperiod}, - }}% - {{hash=MB}{% - family={Mendil}, - familyi={M\bibinitperiod}, - given={Boubekeur}, - giveni={B\bibinitperiod}, - }}% - } - \strng{namehash}{HNMB1} - \strng{fullhash}{HNMB1} - \field{labelnamesource}{author} - \field{labeltitlesource}{title} - \field{labelyear}{2019} - \field{labeldatesource}{year} - \field{sortinit}{H} - \field{sortinithash}{H} - \field{abstract}{% - In this paper, a fuzzy behavior-based approach for a three wheeled - omnidirectional mobile robot (TWOMR) navigation has been proposed. The robot - has to track either static or dynamic target while avoiding either static or - dynamic obstacles along its path. A simple controller design is adopted, and - to do so, two fuzzy behaviors ``Track the Target'' and ``Avoid Obstacles and - Wall Following'' are considered based on reduced rule bases (six and five - rules respectively). This strategy employs a system of five ultrasonic - sensors which provide the necessary information about obstacles in the - environment. Simulation platform was designed to demonstrate the - effectiveness of the proposed approach.% - } - \verb{doi} - \verb 10.1007/s11633-018-1135-x - \endverb - \field{issn}{1751-8520} - \field{number}{2} - \field{pages}{163\bibrangedash 185} - \field{title}{Fuzzy Behavior-based Control of Three Wheeled Omnidirectional - Mobile Robot} - \verb{url} - \verb https://doi.org/10.1007/s11633-018-1135-x - \endverb - \field{volume}{16} - \field{journaltitle}{International Journal of Automation and Computing} - \field{month}{04} - \field{year}{2019} - \endentry - - \entry{Irwanto2018}{misc}{} - \name{author}{1}{}{% - {{hash=IHY}{% - family={Irwanto}, - familyi={I\bibinitperiod}, - given={Herma\bibnamedelima Yudhi}, - giveni={H\bibinitperiod\bibinitdelim Y\bibinitperiod}, - }}% - } - \strng{namehash}{IHY1} - \strng{fullhash}{IHY1} - \field{labelnamesource}{author} - \field{labeltitlesource}{title} - \field{labelyear}{2018} - \field{labeldatesource}{year} - \field{sortinit}{I} - \field{sortinithash}{I} - \field{number}{1} - \field{title}{Development of Mobile Ground Control System and GPS Base Auto - Tracking Antenna} - \field{volume}{16} - \field{journaltitle}{Jurnal Teknologi Dirgantara} - \field{year}{2018} - \warn{\item Invalid format of field 'month'} - \endentry - - \entry{Jim1999}{inbook}{} - \name{author}{1}{}{% - {{hash=LJA}{% - family={Ledin}, - familyi={L\bibinitperiod}, - given={Jim\bibnamedelima A.}, - giveni={J\bibinitperiod\bibinitdelim A\bibinitperiod}, - }}% - } - \strng{namehash}{LJA1} - \strng{fullhash}{LJA1} - \field{labelnamesource}{author} - \field{labeltitlesource}{title} - \field{labelyear}{1999} - \field{labeldatesource}{year} - \field{sortinit}{L} - \field{sortinithash}{L} - \field{booktitle}{Embedded Systems Programming} - \field{title}{Hardware-in-the-Loop Simulation} - \field{year}{1999} - \warn{\item Invalid format of field 'month'} - \endentry - - \entry{OH2015424}{article}{} - \name{author}{3}{}{% - {{hash=OKK}{% - family={Oh}, - familyi={O\bibinitperiod}, - given={Kwang-Kyo}, - giveni={K\bibinitperiod-K\bibinitperiod}, - }}% - {{hash=PMC}{% - family={Park}, - familyi={P\bibinitperiod}, - given={Myoung-Chul}, - giveni={M\bibinitperiod-C\bibinitperiod}, - }}% - {{hash=AHS}{% - family={Ahn}, - familyi={A\bibinitperiod}, - given={Hyo-Sung}, - giveni={H\bibinitperiod-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{labelyear}{2015} - \field{labeldatesource}{year} - \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{labelyear}{2003} - \field{labeldatesource}{year} - \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{QUESADA2019275}{article}{} - \name{author}{4}{}{% - {{hash=QLF}{% - family={Quesada}, - familyi={Q\bibinitperiod}, - given={Luisa\bibnamedelima Fernanda}, - giveni={L\bibinitperiod\bibinitdelim F\bibinitperiod}, - }}% - {{hash=RJD}{% - family={Rojas}, - familyi={R\bibinitperiod}, - given={José\bibnamedelima David}, - giveni={J\bibinitperiod\bibinitdelim D\bibinitperiod}, - }}% - {{hash=AO}{% - family={Arrieta}, - familyi={A\bibinitperiod}, - given={Orlando}, - giveni={O\bibinitperiod}, - }}% - {{hash=VR}{% - family={Vilanova}, - familyi={V\bibinitperiod}, - given={Ramon}, - giveni={R\bibinitperiod}, - }}% - } - \keyw{Controlled system, insulin control, Hardware in the loop, PID - control, Optimal control} - \strng{namehash}{QLF+1} - \strng{fullhash}{QLFRJDAOVR1} - \field{labelnamesource}{author} - \field{labeltitlesource}{title} - \field{labelyear}{2019} - \field{labeldatesource}{year} - \field{sortinit}{Q} - \field{sortinithash}{Q} - \field{abstract}{% - Artificial pancreas control is an important research area in the biomedical - field. However, it is dangerous to test new control algorithms on humans in - order to improve the performance of the control system. This paper presents - the results of using an open-source low-cost hardware in the loop platform to - test different control strategies for artificial pancreas research. An - Arduino platform was selected as the main device to implement the real time - differential equations solver needed for the HIL simulation. The platform was - successfully tested with both a PID controller and an LQR controller. The - code and schematics of the platform are available upon request.% - } - \verb{doi} - \verb https://doi.org/10.1016/j.ifacol.2019.06.074 - \endverb - \field{issn}{2405-8963} - \field{note}{12th IFAC Symposium on Dynamics and Control of Process - Systems, including Biosystems DYCOPS 2019} - \field{number}{1} - \field{pages}{275 \bibrangedash 280} - \field{title}{Open-source low-cost Hardware-in-the-loop simulation platform - for testing control strategies for artificial pancreas research} - \verb{url} - \verb http://www.sciencedirect.com/science/article/pii/S2405896319301594 - \endverb - \field{volume}{52} - \field{journaltitle}{IFAC-PapersOnLine} - \field{year}{2019} - \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{labelyear}{2015} - \field{labeldatesource}{year} - \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 -\enddatalist -\endinput diff --git a/thesis.blg b/thesis.blg deleted file mode 100644 index 43af579..0000000 --- a/thesis.blg +++ /dev/null @@ -1,85 +0,0 @@ -This is BibTeX, Version 0.99d (TeX Live 2018) -Capacity: max_strings=100000, hash_size=100000, hash_prime=85009 -The top-level auxiliary file: thesis.aux -The style file: biblatex.bst -A level-1 auxiliary file: OTHER/sampul_Unibraw.aux -A level-1 auxiliary file: OTHER/judul_dalam.aux -A level-1 auxiliary file: OTHER/pengesahan.aux -A level-1 auxiliary file: OTHER/orisinal.aux -A level-1 auxiliary file: OTHER/pengesahan_sidang.aux -A level-1 auxiliary file: OTHER/pengantar.aux -A level-1 auxiliary file: OTHER/persetujuan_publikasi.aux -A level-1 auxiliary file: OTHER/abstrak.aux -A level-1 auxiliary file: OTHER/abstract.aux -A level-1 auxiliary file: BAB1/bab1.aux -A level-1 auxiliary file: BAB2/bab2.aux -A level-1 auxiliary file: BAB3/bab3.aux -A level-1 auxiliary file: BAB4/bab4.aux -A level-1 auxiliary file: BAB5/bab5.aux -A level-1 auxiliary file: BAB6/bab6.aux -A level-1 auxiliary file: OTHER/kesimpulan.aux -A level-1 auxiliary file: OTHER/markLampiran.aux -A level-1 auxiliary file: OTHER/lampiran.aux -Reallocated glb_str_ptr (elt_size=4) to 20 items from 10. -Reallocated global_strs (elt_size=20001) to 20 items from 10. -Reallocated glb_str_end (elt_size=4) to 20 items from 10. -Reallocated singl_function (elt_size=4) to 100 items from 50. -Reallocated singl_function (elt_size=4) to 100 items from 50. -Reallocated singl_function (elt_size=4) to 100 items from 50. -Reallocated wiz_functions (elt_size=4) to 6000 items from 3000. -Reallocated singl_function (elt_size=4) to 100 items from 50. -Reallocated singl_function (elt_size=4) to 100 items from 50. -Reallocated singl_function (elt_size=4) to 100 items from 50. -Reallocated singl_function (elt_size=4) to 100 items from 50. -Reallocated singl_function (elt_size=4) to 100 items from 50. -Reallocated singl_function (elt_size=4) to 100 items from 50. -Reallocated singl_function (elt_size=4) to 100 items from 50. -Database file #1: thesis-blx.bib -Database file #2: OTHER/references.bib -Warning--entry type for "Irwanto2018" isn't style-file defined ---line 10 of file OTHER/references.bib -Biblatex version: 3.8 -Reallocated wiz_functions (elt_size=4) to 9000 items from 6000. -Reallocated singl_function (elt_size=4) to 100 items from 50. -You've used 13 entries, - 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