SIMULASI KONTROL OPTIMAL LATERAL MOTION PADA MODEL STEER BY WIRE
DOI:
https://doi.org/10.31328/ciastech.v0i0.3328Keywords:
Steer by Wire, FLC, MQPSO, SILSAbstract
Tujuan paper ini adalah mengoptimalkan kinerja sistem kontrol lateral motion pada model sistem kemudi kendaraan yang menggunakan Steer by Wire system, sehingga kendaraan dapat selalu dipertahankan pergerakannya pada lintasan yang diinginkan. Strategi sistem kontrol yang dibangun adalah Fuzzy Logic (FLC) Control sebagai kontrol lateral motion dan untuk mendapatkan sistem kontrol yang optimal digunakan metode optimisasi Modified-Quantum Particle Swarm Optimization (MQPSO). Simulasi dilakukan secara Software in The Loop Simulations pada model dinamika kendaraan secara real time. Hasil simulasi sistem kontrol lateral motion menggunakan FLC yang dioptimisasi oleh MQPSO menunjukkan bahwa kendaraan dapat melaju sesuai desired trajectory dalam bentuk double lane change. dengan nilai C-RMS error adalah 0.009807 yang lebih kecil dibanding dengan menggunakan PSO (0.021139) maupun QPSO (0.019200).References
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