Optimisasi Steering Control Mobil Listrik Auto-Pilot Menggunakan Metode Ant Colony Optimization (ACO)

Authors

  • Machrus Ali Universitas Darul ’Ulum
  • Izzatul Umami Universitas Darul ’Ulum
  • Hendi Sopian Universitas Darul ’Ulum

DOI:

https://doi.org/10.48056/jintake.v6i1.79

Keywords:

Vehicle, Lateral Motion, PID, ANFIS

Abstract

Steering Control adalah sistem kemudi yang dirancang untuk akurasi pergerakan steer terhadap lintasan kendaraan dan memperingan sistem kemudi. Pada penelitian ini sistem kemudi menggunakan Ant Colony Optimization (ACO). Pada penelitian ini akan dikembangkan model Fully Automatic Steer By Wire System menggunakan 10 Degree Of Freedom (DOF) terdiri dari 7-DOF Vehicle Ride Model  dan 3-DOF Vehicle Handling Model. Dari hasil ACO dibandingkan dengan metode PID konvensional didapatkan hasil yang lebih baik. Dari hasil simulasi didapatkan bahwa Ant Colony Optimization (ACO) pada kecepatan default (13.8 km/h) didapatkan nilai kp = 584,0150, ki = 4,1046, kd = 0,2014 dan mampu mengontrol dengan kecpatan mencapai 69,0 km/h dengan overshot terkecil, yaitu 0,00621 pada C-RMS Error

Author Biographies

Machrus Ali, Universitas Darul ’Ulum

Teknik Elektro, Universitas Darul ’Ulum, Jombang, Indonesia

Izzatul Umami, Universitas Darul ’Ulum

Teknik Informatika, Universitas Darul ’Ulum, Jombang, Indonesia

Hendi Sopian, Universitas Darul ’Ulum

Teknik Informatika, Universitas Darul ’Ulum, Jombang, Indonesia

References

Avak, B., 2004, Modeling and Control of a Superimposed Steering System, Thesis, Master of Science, School of Electrical and Computer Engineering, Georgia Institute of Technology.

E. Atashpaz-Gargari and C. Lucas, "Imperialist competitive algorithm: An algorithm for optimization inspired by imperialistic competition," in Evolutionary Computation, 2007. CEC 2007. IEEE Congress on, 2007, pp. 4661-4667.

Hingwe P., Tan H.S., Packard AK., Tomizuka M., 2002,“Linear Parameter Varying Controller for Automated Lane Guidance: Experimental Study on Tractor-Trailers”, IEEE Transactions On Control Systems Technology, Vol. 10, No. 6, November 2002, pp.793-806.

Hernandez J.I., Kuo C.Y., 2003, “Steering Control of Automated Vehicles Using Absolute Positioning GPS and Magnetic Markers” IEEE Transactions On Vehicular Technology, Vol. 52, No. 1, January 2003, pp. 150-161.

Ahmadi J., Sedigh A.K., Kabganian M., 2009, Adaptive Vehicle Lateral-Plane Motion Control Using Optimal Tire Friction Forces With Saturation Limits Consideration, IEEE Transactions On Vehicular Technology, Vol. 58, No. 8, October 2009, pp. 4098 - 4107

Cai L., Rad A. B., Chan W.L., 2007, Genetic Fuzzy Controller for Vehicle Automatic Steering Control, IEEE Transactions On Vehicular Technology, Vol. 56, No. 2, March 2007, pp. 529 – 543

Hudha, K., Kadir, Z., Said, M. and Jamaluddin, H., 2008, Modeling, validation and roll moment rejections control of pneumatically actuated active roll control for improving vehicle lateral dynamics performance’, International Journal of Engineering Systems Modeling and Simulation, Vol. 1, pp.122–136.

Falcone, P., Borrelli, F., Asgari, J., Tseng, H. E. and Hrovat, D., 2007, Predictive Active Steering Control for Autonomous Vehicle Systems. IEEE Transactions on Control Systems Technology. Vol.15, No. 3, pp. 566 – 580.

MatthewR., Michael, AS., Demetriou, 2000, Modeling and Simulation of Vehicle Ride and Handling Performance, Proceeding of the 15th International Symposium on Intelligent Control (ISIC 2000), Rio, Patras Greece, July 17 – 19.

Wang, J., Hsieh, M.F., 2009, Vehicle Yaw Inertia and Mass Independent Adaptive Control for Stability and Trajectory Tracking Enhancements, American Control Conference, St.Louis MO, USA, June 10 – 12.

Q. Liang, J.M. Mendel, Interval type-2 Fuzzy Logic Control: theory and design, IEEE Trans. Fuzzy Syst. 8 (2000) 535–550

C. Lynch, H. Hagras, V. Callaghan, Embedded type-2 FLC for real-time speed control of marine and traction diesel engines, in: Proceedings of IEEE FUZZ Conference, Reno, NV, May 2005, pp. 347–352

J.R.Castro and O.Castilo, “Interval Type-2 Fuzzy Logic For Intelligent Control Application”, Fuzzy Information Processing Sociaty,2007. NAFIPS’07. Annual Meeting of the North American,2007, pp.592-297

J.M.Mendel, “ On a 50% savings in the computation of the centroid of a symmetrical interval type-2 fuzzy set”, Science Direct, Information Science 172 (2005) 417–430.

J. M. Mendel and R. I. John, “Type-2 fuzzy sets made simple,” IEEE Trans. on Fuzzy Systems, vol. 10, no. 2, pp. 117–127, 2002.

Fachrudin, Robandi, I. Sutantra, N., 2010, Model and Simulation of Vehicle Lateral Stability Control, International Seminar on Applied Technology, Science, and Arts, 2nd APTECS 2010, ITS Surabaya, December 21 – 22.

Fachrudin, Robandi, I. Sutantra, N., 2011, Vehicle Stability Control On Steer By Wire System Using Fuzzy Logic, The International Student Conference on Advanced Science and Technology (ICAST), Shandong University, Jinan, China, September 23 – 27.

Fachrudin, Robandi, I. Sutantra, N., 2012, Modeling and Simulation of Vehicle Stability Control on Steer By Wire System Using Fuzzy Logic Control and PID Control Tuned by PSO, 3rd International Conference on Engineering and ICT (ICEI2012) Melaka, Malaysia, April 4 – 6.

Published

2015-04-22

How to Cite

[1]
Machrus Ali, Izzatul Umami, and Hendi Sopian, “Optimisasi Steering Control Mobil Listrik Auto-Pilot Menggunakan Metode Ant Colony Optimization (ACO)”, jintake, vol. 6, no. 1, pp. 34-50, Apr. 2015.

Issue

Section

Articles