ANALISIS DINAMIKA SIRKUIT CHAOS 3-D AUTONOMOUS SERTA APLIKASINYA UNTUK NAVIGASI MOBILE ROBOT


Mada Sanjaya W.S(1*), Aceng Sambas(2), Mustafa Mamat(3)

(1) Bolabot Techno Robotic Institute, CV. Sanjaya Star Group, Bandung Jawa Barat. INDONESIA Jurusan Fisika, Fakultas Sains dan Teknologi Universitas Islam Negeri Sunan Gunung Djati Bandung Jawa Barat, INDONESIA, Indonesia
(2) Bolabot Techno Robotic Institute, CV. Sanjaya Star Group, Bandung Jawa Barat. INDONESIA, Indonesia
(3) 3Faculty of Science and Technology, Universiti Malaysia Terengganu, 21030 Kuala Terengganu, MALAYSIA, Indonesia
(*) Corresponding Author

Abstract


Makalah ini menyajikan sebuah sistem 3-D autonomous baru dengan istilah empat kuadrat. Sistem dengan lima titik ekuilibrium memiliki perilaku dinamika chaos kompleks. Hal ini dapat menghasilkan banyak attractor chaos tunggal yang berbeda dan attractor chaos ganda dengan mengubah parameter kontrol pembangkit sinyal chaos. Perilaku dinamis yang kompleks dari sistem yang diteliti lebih lanjut dengan cara menganalsis diagram fase, spektrum Lyapunov eksponen, sistem dissipative, diagram bifurkasi dan peta Poincaré. Rangkaian fisik hasil pendekatan eksperimen menggunakan MultiSIM 10.0 dari attractor chaos menunjukkan hasil yang sama dengan simulasi numerik menggunakan MATLAB 2010. Yang lebih penting orbit chaos yang padat dihasilkan oleh sirkuit ini akan memberikan sebuah fitur lintasan robot patroli yang tidak terduga, yang dimanfaatkan dalam pengontrolan fasilitas militer. Hal ini mendorong bagi kami untuk mengembangkan sistem robot cerdas. Pada sistem mobile robot patrol ini, sinyal chaos digunakan untuk mengontrol pergerakan arah robot dan diaplikasikan untuk robot patroli dalam bidang militer. Kelebihan robot bernavigasi chaos ini adalah karena robot ini merupakan robot autonomous digital, sehingga sistem program yang dibuat menggunakan mikrokontroler sebagai kendali geraknya. Selain itu, kami telah mengembangkam model matematika dari kinematika robot dan pendekatan validasi menggunakan MATLAB 2010.

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