TY - GEN
T1 - Identification of Four Wheel Mobile Robot based on Parametric Modelling
AU - Raafiu, Brian
AU - Darwito, Purwadi Agus
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - Technology Four Wheel Mobile Robotic is a choice with a variety of the functions in the industry and the application of the other, reliability and intelligence system of wheeled mobile robot become an option on a 4.0 generation industry. Stabilization of four-wheel mobile robot is an important case for the system control of the mobile robot. This paper presents system identification process of Four Wheel Mobile Robot (FWMR). In the first phase, it is investigating a part of the system as multi-input single output (MISO) system. The current and duty cycle of motors as input, and speed of rotation wheel as outputs. Model of Four Wheel Mobile Robot is constructed by parametric models in system identification. There are two parametric models used in this study, those are autoregressive exogenous (ARX) and autoregressive moving average exogenous (ARMAX). The models were designed using m-file of the parametric model. The best result models Four Wheel Mobile Robot are ARX model with first-order structure (FIT= 98,11% and ARMAX model with second order structure (FIT= 95,30%. The ARX model shows the best model for Four Wheel Mobile Robot (FWMR) system.
AB - Technology Four Wheel Mobile Robotic is a choice with a variety of the functions in the industry and the application of the other, reliability and intelligence system of wheeled mobile robot become an option on a 4.0 generation industry. Stabilization of four-wheel mobile robot is an important case for the system control of the mobile robot. This paper presents system identification process of Four Wheel Mobile Robot (FWMR). In the first phase, it is investigating a part of the system as multi-input single output (MISO) system. The current and duty cycle of motors as input, and speed of rotation wheel as outputs. Model of Four Wheel Mobile Robot is constructed by parametric models in system identification. There are two parametric models used in this study, those are autoregressive exogenous (ARX) and autoregressive moving average exogenous (ARMAX). The models were designed using m-file of the parametric model. The best result models Four Wheel Mobile Robot are ARX model with first-order structure (FIT= 98,11% and ARMAX model with second order structure (FIT= 95,30%. The ARX model shows the best model for Four Wheel Mobile Robot (FWMR) system.
KW - ARMAX
KW - ARX
KW - Parametric Modeling
KW - four-wheeled mobile robot (FWMR)
KW - system identification
UR - http://www.scopus.com/inward/record.url?scp=85066897237&partnerID=8YFLogxK
U2 - 10.1109/ISITIA.2018.8710761
DO - 10.1109/ISITIA.2018.8710761
M3 - Conference contribution
AN - SCOPUS:85066897237
T3 - Proceeding - 2018 International Seminar on Intelligent Technology and Its Application, ISITIA 2018
SP - 397
EP - 401
BT - Proceeding - 2018 International Seminar on Intelligent Technology and Its Application, ISITIA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 International Seminar on Intelligent Technology and Its Application, ISITIA 2018
Y2 - 30 August 2018 through 31 August 2018
ER -