PENGENDALIAN ROBOT RODA DUA DENGAN KENDALI PID

Authors

  • Daniel Sutopo Pamungkas
  • Karina Wardani

Keywords:

PID, control, balancing robot

Abstract

A two-wheeled balancing robot (balancing robot) is a mobile robot that has two wheels on the right and left sides which will not be balanced without a controller. This balancing robot is a development of an inverted pendulum model placed on a wheeled cart. Balancing the balancing of the two-wheeled robot requires a good and reliable control method to maintain the robot's position in a perpendicular position to the earth's surface without the need for other external controllers. Therefore we need a control system to maintain the pendulum’s position. To control the robot, an IMU sensor is used. A PID controller is utilized to control the robot. An IMU sensor is used to detect its tilt of it. The values of KP, KI, and KD are tunning using the trial and error method. The result shows that the PID control algorithm enables to balance of the two wheels robot.

References

Mas Pratama, I., Suweden, I., & Swamardika, I. (2015). Sistem Kontrol Pergerakan pada Robot Line Follower Berbasis Hybrid PID-Fuzzy Logic. Prosiding Csgteis

Pamungkas, A.P. (2014) Balancing Robot Beroda Dua Menggunakan Metode Fuzzy Logic Berbasis Mikrokontroler Arduino. Fakultas Teknik Elektro, Universitas Dian Nuswantoro.

Pratama, A dan Hernawan, A (2019) Implementasi Pid Controller Pada Self Balancing Robot. (Tugas Akhir thesis, University of Technology Yogyakarta).

Raranda, P.W. (2017). Implementasi Kontroler Pid Pada Two Wheels Self Balancing Robot Berbasis Arduino Uno.

Royyan, M (2015) “Implementasi Kalman Filter Dan Kontroler PID Untuk Robot Pendulum Terbalik,” 2015.

Simbolon, R. (2020). Analisis dan Simulasi Sistem Kontrol PI dan PID Menggunakan XCOS SCILAB Retrieved from repositori Universitas Sumatra Utara

Wibowo, B.C. dan Iqbal. M. (2013). Implementasi Metode Logika Fuzzy pada Kontrol Keseimbangan Robot Mobil Beroda Dua. Jurnal Universitas Muria. Kudus.

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Published

2023-01-23

How to Cite

Daniel Sutopo Pamungkas, & Karina Wardani. (2023). PENGENDALIAN ROBOT RODA DUA DENGAN KENDALI PID. Prosiding Seminar Nasional Terapan Riset Inovatif (SENTRINOV), 8(1), 214 - 222. Retrieved from https://proceeding.isas.or.id/index.php/sentrinov/article/view/1165