Kendali Heading pada Trajectory Tracking Miniatur Robot Mobil
نویسندگان
چکیده
Makalah ini menyajikan kendali heading pada trajectory tracking menggunakan sensor kompas dan global positioning (GPS) miniatur robot mobil. Permasalahan yang timbul ketika mobil mengikuti lintasan ialah terjadinya slip roda. Oleh sebab itu menimbulkan kesalahan dapat diperoleh dari pembacaan posisi GPS tersebut. Untuk meminimalisir permasalahan terjadi, proporsional integral derivatif (PID) diterapkan untuk mengendalikan dengan metode ke-2 Ziegler Nichols. Dalam proses pencarian parameter PID hasil Kp=0.6; Ti=2.5; Td=0.625. Selanjutnya, penerapan Haversine digunakan menghitung jarak terpendek antara dua titik saat GPS. Dari pengujian bahwa mampu membuat pergerakan sukses uji.
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ژورنال
عنوان ژورنال: Jurnal Listrik, Instrumentasi, dan Elektronika Terapan
سال: 2021
ISSN: ['2746-2536']
DOI: https://doi.org/10.22146/juliet.v1i2.59347