PRASETYO, FAQIH DANU (2026) PENINGKATAN AKURASI ROBOT PATH TRACKING PADATIKUNGAN U DAN PATAH 90° MELALUI ANALISIS KOMPARASI MODEL PREDICTIVE CONTROL DAN FUZZY LOGIC CONTROLLER. S1 thesis, Universitas Mercu Buana Jakarta.
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Abstract
Robot path tracking accuracy relies heavily on the controller's capability to anticipate changes in path geometry. However, conventional Fuzzy Logic Controllers (FLC) often exhibit fundamental limitations, such as slow transient response and excessive overshoot during sharp maneuvers, due to their reactive nature. This indicates the necessity for a control method capable of predicting trajectory changes to effectively mitigate positional errors. To address these issues, this study proposes the implementation of Model Predictive Control (MPC) as a predictive approach capable of performing systematic control optimization to minimize Root Mean Square Error (RMSE). System validation was conducted via simulation on a nonholonomic unicycle robot by comparing the performance of the proposed MPC against a baseline FLC across four test scenarios, including Sine Wave, Staircase (90° turns), Zig-zag, and UTurn. Simulation results demonstrate that MPC consistently outperforms FLC, particularly during sharp turn maneuvers. Performance improvement is evidenced by a reduction in lateral RMSE of 56.6% on 90° turns and 63.3% on U-Turn trajectories. Based on this validation, it is concluded that MPC is more effective in enhancing path tracking accuracy on complex trajectories compared to the heuristic approach of FLC. Keywords: Model Predictive Control, Fuzzy Logic, Path tracking, Unicycle Robot, Sharp Turns. Akurasi pelacakan jalur (path tracking) pada robot sangat bergantung pada kemampuan kontroler dalam mengantisipasi perubahan geometri lintasan. Namun, Kontroler Logika Fuzzy (FLC) konvensional sering kali memiliki keterbatasan fundamental berupa respons transien yang lambat dan overshoot berlebih pada manuver tajam karena sifatnya yang reaktif. Hal ini menunjukkan perlunya metode kontrol yang mampu memprediksi perubahan lintasan untuk memitigasi kesalahan posisi secara efektif. Untuk mengatasi permasalahan tersebut, penelitian ini mengusulkan penerapan Model Predictive Control (MPC) sebagai pendekatan prediktif yang mampu melakukan optimasi kontrol secara sistematis guna meminimalkan Root Mean Square Error (RMSE). Validasi sistem dilakukan melalui simulasi pada robot nonholonomic unicycle dengan membandingkan performa MPC yang diusulkan terhadap baseline FLC pada empat skenario uji yang mencakup Sine Wave, Staircase (tikungan 90°), Zig-zag, dan U-Turn. Hasil simulasi menunjukkan bahwa MPC secara konsisten mengungguli FLC, terutama pada manuver tikungan tajam. Peningkatan performa dibuktikan dengan penurunan RMSE lateral sebesar 56,6% pada tikungan 90° dan 63,3% pada lintasan UTurn. Berdasarkan validasi ini, disimpulkan bahwa MPC lebih efektif dalam meningkatkan akurasi pelacakan jalur pada lintasan kompleks dibandingkan dengan pendekatan heuristik yang dimiliki oleh FLC. Kata Kunci : Model Predictive Control, Fuzzy Logic, Path tracking, Robot nicycle, Tikungan Tajam.
| Item Type: | Thesis (S1) |
|---|---|
| NIM/NIDN Creators: | 41423120023 |
| Uncontrolled Keywords: | Model Predictive Control, Fuzzy Logic, Path tracking, Robot nicycle, Tikungan Tajam. |
| Subjects: | 600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan > 621 Applied Physics/Fisika terapan > 621.3 Electrical Engineering, Lighting, Superconductivity, Magnetic Engineering, Applied Optics, Paraphotic Technology, Electronics Communications Engineering, Computers/Teknik Elektro, Pencahayaan, Superkonduktivitas, Teknik Magnetik, Optik Terapan, Tekn |
| Divisions: | Fakultas Teknik > Teknik Elektro |
| Depositing User: | khalimah |
| Date Deposited: | 14 Feb 2026 06:23 |
| Last Modified: | 14 Feb 2026 06:23 |
| URI: | http://repository.mercubuana.ac.id/id/eprint/100956 |
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