Kontrol Kecepatan Pada Robot Pendulum Terbalik Beroda Dua Menggunakan Kontroler Fuzzy

Robot pendulum terbalik beroda dua merupakan salah satu tipe pendulum terbalik yang memiliki perilaku tidak stabil dan tidak linear. Robot ini tidak dapat mempertahankan kecepatan gerak dan sudut kemiringan batang pendulum konstan secara serentak, dikarenakan keberadaan gravitasi. Sudut kemiringan batang pendulum dapat mengubah-ubah kecepatan gerak robot. Berdasarkan permasalahan tersebut, untuk mempertahankan keseimbangan sudut pendulum digunakan kontroler fuzzy berbasis model Takagi-Sugeno (T-S) yaitu Fuzzy Balanced Standing Control (FBSC). Aturan kontroler disusun menggunakan prosedur Parallel Distributed Compensation (PDC) dengan metode penempatan kutub. Untuk membuat robot bergerak dengan kecepatan gerak konstan yang diinginkan, digunakan kontroler Fuzzy Constant Velocity Control (FCVC) berbasis arsitektur Mamdani. Hasil simulasi menunjukkan bahwa robot mampu mengikuti nilai referensi kecepatan gerak konstan sehingga robot dapat bergerak dengan kecepatan gerak konstan sambil mempertahankan keadaan seimbang batang pendulum robot di sekitar 0 radian. Respons kecepatan gerak konstan masih mengalami overshoot. =================================================================================== Two-wheeled inverted pendulum robot is kind of inverted pendulum which has unstable and nonlinear behaviors. This robot cannot keep constant velocity and constant angle of pendulum simultaneously, due to the presence of gravity. The angle of pendulum can vary the moving velocity of robot. Based on the problem, the Takagi-Sugeno (T-S) model-based fuzzy controler is used to keep the stability of the angle of pendulum i.e. Fuzzy Balanced Standing Control (FBSC). The rule of controller is arranged by using Parallel Distributed Compensation (PDC) procedure with pole placement method. To make robot moves with the desired constant velocity, Fuzzy Constant Velocity Control (FCVC) controller is based on architecture of Mamdani is used. The results of simulation show that, by using a combination of FCVC and FBSC controller, two-wheeled inverted pendulum robot ables to follow constant velocity reference, so that the robot can move with constant velocity while keeping the pole of pendulum balanced around 0 radians. The response of velocity still has overshoot