Design and Build Two Wheel Balancing Robot Simulation with Fuzzy PID

Santoso, Izzah Aula Wardah, Puji Slamet, Aris Heri Andriawan, Abdul Rahman Algopiki

2023

Abstract

This research produces a two-wheeled equilibrium robot with Fuzzy PID as its motion control. Generate designs and simulations of robotic systems namely gyroscope, PID, Fuzzy simulation, and motor control. In the PID simulation the stability values are obtained at Kp = 100, Ki = 200, Kd = 10, and from the gyroscope simulation results obtained a minimum value of 0.074616, a maximum value of 0.110321, an average value of 0.092469, a standard deviation of 0.025247, sum of data (sum) 0.184937, mean 0.092469. The results of this study are expected to be developed using a stepper motor, improving the complement or Kalman filter algorithm to produce a gyroscope sensor signal that is clean from noise interference, as well as adding an input membership function to get a better motion response.

Paper Citation

in Harvard Style

Santoso., Aula Wardah I., Slamet P., Heri Andriawan A. and Rahman Algopiki A. (2023). Design and Build Two Wheel Balancing Robot Simulation with Fuzzy PID. In Proceedings of the 4th International Conference on Advanced Engineering and Technology - Volume 1: ICATECH; ISBN 978-989-758-663-7, SciTePress, pages 124-128. DOI: 10.5220/0012108300003680

in Bibtex Style

@conference{icatech23,
author={Santoso and Izzah Aula Wardah and Puji Slamet and Aris Heri Andriawan and Abdul Rahman Algopiki},
title={Design and Build Two Wheel Balancing Robot Simulation with Fuzzy PID},
booktitle={Proceedings of the 4th International Conference on Advanced Engineering and Technology - Volume 1: ICATECH},
year={2023},
pages={124-128},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012108300003680},
isbn={978-989-758-663-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 4th International Conference on Advanced Engineering and Technology - Volume 1: ICATECH
TI - Design and Build Two Wheel Balancing Robot Simulation with Fuzzy PID
SN - 978-989-758-663-7
AU - Santoso.
AU - Aula Wardah I.
AU - Slamet P.
AU - Heri Andriawan A.
AU - Rahman Algopiki A.
PY - 2023
SP - 124
EP - 128
DO - 10.5220/0012108300003680
PB - SciTePress