Kontrol Kemudi Mobil dengan Pengaruh Variasi Kecepatan Longitudinal pada Kelengkungan Jalan yang Berbeda-Beda Menggunakan Model Predictive Control

A M Hawali Akbar, Ari Santoso, Mohamad Abdul Hady
Submission Date: 2023-02-13 16:57:00
Accepted Date: 2023-09-18 06:25:38


Salah satu hal yang menjadi fokusan pada tugas akhir ini, yaitu perubahan dinamika mobil akibat kecepatan longitudinalnya yang berubah-ubah, di mana tantangannya yaitu dapat mengendalikan steering dari kendaraan sehingga agar tetap pada trek yang diinginkan. Oleh karena itu, pada tugas akhir ini akan dikontrol lintasan, dengan mengontrol steering dari kendaraan dengan metode kontrol multi-stage MPC (Model Predictive Control). Hasil tugas akhir menunjukkan bahwa kontroler multi-stage MPC, dapat mengikuti referensi yang diinginkan. Kontroler multi-stage MPC, dapat menyelesaikan mengikuti referensi yang diingikan dengan error yang masih dapat ditoleransi hingga 10^(-2).


Mobil Autonomous; Multi-Stage MPC; Steering

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