KENDALI POSISI CANNON ARMY TANK MENGGUNAKAN EMBEDDED FUZZY LOGIC CONTROL

Abstract

Indonesia is an archipelago country which has thousand islands. It doesn’t only need high nationalism citizen to keep NKRI exist but it needs also war device. One of the most important device is tank. It has cannon which is used to shoot bullets. The aim of this final project is to implement Fuzzy Logic Controller in a manipulator as a position control. Fuzzy Logic Controller is used to control position of cannon both horizontally and vertically, based on the change of position that is measured by position sensors located on the joystick. From the experiment result, it is found that the position control of manipulator using Fuzzy Logic Controller has fine response. The controller parameters also have an influence to the movement and final position of manipulator, if the value given to the limit of membership function is not correct, then the manipulator will easily get oscillation. The rule base that is used also give a big influence to the response and final position of manipulator. To get the value of membership function limit or the rule base, it is better to use the trial and error method. Keyword : Cannon, Fuzzy Logic Controller, Joystick, Manipulator, Position Sensor