Pengendalian Kestabilan Terbang Robot Penjelajah Udara Dengan Metode Hybrid PID-FUZZY

Abstrak   Pengembangan robot dengan sistem kecerdasan buatan memiliki keunggulan, seperti pada robot penjelajah udara dimana pemanfaatannya dapat digunakan sebagai robot pemadam api pada kebakaran hutan, pengambilan gambar. Robot penjelajah udara beroperasi menggunakan empat rotor dan empat buah baling-baling. Karena kombinasi inilah sistem mampu mengendalikan gaya angkat pesawat,  melalui kondisi torsi yang seimbang. Robot mampu melakukan pitch, yaw, dan roll menggunakan kendali empat rotor. Ketika robot penjelajah udara melakukan gerakan manuver, gerakan melayang (hovering) memerlukan kestabilan terbang, sehingga robot penjelajah udara ini dirancang dengan menggunakan sistem kendali hibrid PID-Fuzzy agar dihasilkan kestabilan terbang sesuai posisi ketinggian tertentu dan proses pendaratan. Metode penelitian meliputi perancangan rangkaian dan alat, pembuatan program untuk remote dan motor brushless, implementasi program pada kontroler, serta pengujian alat. Dengan kendali hibrid PID-Fuzzy diharapkan mengatasi berbagai masalah kendali saat terbang dengan mengubah nilai gain Kp, Ki, dan Kd dan mampu mengatasi sistem kendali robot yang nonlinier, sehingga dihasilkan kestabilan terbang robot yang baik sesuai tingkat ketinggian terbang dan saat pendaratan.      Abstract   The development of robots with artificial intelligence systems has advantages, such as in air explorers robots where their utilization can be used as fire fighting robots in forest fires, shooting. The air explorer robot operates using four rotor and four propellers. Because of this combination the system is able to control the lifting force of the aircraft, through a balanced torque conditions. The robot is able to pitch, yaw, and roll using the four rotor controls. When the air-cruise robot performs a maneuvering motion, hovering requires flying stability, so the air explorer robot is designed using a PID-Fuzzy hybrid control system to generate flying stability in a certain altitude position and landing process. Research methods include circuit design and tools, programming for remote and brushless motors, program implementation on controllers, and tool testing. With PID-Fuzzy hybrid control is expected to overcome the problems of control when flying by changing the gain value Kp, Ki, and Kd and able to overcome the nonlinear robot control system, resulting in good robot flying stability according to the level of flying altitude and when landing

Supervised Control of a Flying Performing Robot using its Intrinsic Sound

We present the current results of our ongoing research in achieving efficient control of a flying robot for a wide variety of possible applications. A lightweight small indoor helicopter has been equipped with an embedded system and relatively simple sensors to achieve autonomous stable flight. The controllers have been tuned using genetic algorithms to further enhance flight stability. A number of additional sensors would need to be attached to the helicopter to enable it to sense more of its environment such as its current location or the location of obstacles like the walls of the room it is flying in. The lightweight nature of the helicopter very much restricts the amount of sensors that can be attached to it. We propose utilising the intrinsic sound signatures of the helicopter to locate it and to extract features about its current state, using another supervising robot. The analysis of this information is then sent back to the helicopter using an uplink to enable the helicopter to further stabilise its flight and correct its position and flight path without the need for additional sensors

Managing uncertainty in sound based control for an autonomous helicopter

In this paper we present our ongoing research using a multi-purpose, small and low cost autonomous helicopter platform (Flyper ). We are building on previously achieved stable control using evolutionary tuning. We propose a sound based supervised method to localise the indoor helicopter and extract meaningful information to enable the helicopter to further stabilise its flight and correct its flightpath. Due to the high amount of uncertainty in the data, we propose the use of fuzzy logic in the signal processing of the sound signature. We discuss the benefits and difficulties using type-1 and type-2 fuzzy logic in this real-time systems and give an overview of our proposed system

Robustness analysis of evolutionary controller tuning using real systems

A genetic algorithm (GA) presents an excellent method for controller parameter tuning. In our work, we evolved the heading as well as the altitude controller for a small lightweight helicopter. We use the real flying robot to evaluate the GA's individuals rather than an artificially consistent simulator. By doing so we avoid the ldquoreality gaprdquo, taking the controller from the simulator to the real world. In this paper we analyze the evolutionary aspects of this technique and discuss the issues that need to be considered for it to perform well and result in robust controllers

Pavement condition survey in road along Kampung Selancar Pagoh

Road maintenance involves in remedying defects such as potholes, patch, edge defects and etc. that occurs in the carriageway. The corrective maintenance and providing treatments is carried out from time to time to slow the rate of deterioration (preventative maintenance). Road maintenance is essential to preserve the road in its originally constructed condition, protect adjacent resources and user safety and provide, and convenient travel along the route. Before doing any road maintenance, the defects should be determined first. The place chosen in Kampung Selancar, Pagoh which is the defects determination are carried out along 1km carriageway..

Comprehensive review on controller for leader-follower robotic system

985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies