Kendali Penjejakan Non Linier untuk Robot Bergerak

-, Herizon (2008) Kendali Penjejakan Non Linier untuk Robot Bergerak. POLI REKAYASA, 4 (1). pp. 17-24. ISSN 1858-3709


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The tracking problem of robot can be formulated as a control law which makes that the tracking error converges to zero where the system is initialized at certain time. There are many control laws which have been yielded with various method or approach of the nonlinear control design which used in designing to tracking control of robot, so that give a choice control law with which approach is which compatible be used for the tracking of robot. We can choose one of them that are compatible with our specification needs. The purpose of this research is to compare some nonlinear tracking control laws which have been yielded by : Samson and Ait Abderrahim (1991) using Lyapunov theory, Jiang and Nijmeijer (1997) using integrator back stepping and Lefeber (2000) using cascaded approach. Is so that got by an analysis and describe some approach methods of nonlinear control design for the tracking of a differentially driven robot. We hope the result of this research can give move knowledge about the impacts of design parameters like gain constant, initial error and also reference trajectory to tracking error and input control which is yielded.

Item Type:Article
Subjects:G Technology > GI Electrical engineering. Electronics Nuclear engineering
Divisions:Jurusan Teknik Elektro > Prog.Studi Teknik Elektronika-D3 > Journal, Proceeding
ID Code:527
Deposited By:Mr. OP Repo-1 Puskom
Deposited On:30 Nov 2016 14:50
Last Modified:30 Nov 2016 14:50

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