Authors:
Santoso
;
Izzah Aula Wardah
;
Puji Slamet
;
Aris Heri Andriawan
and
Abdul Rahman Algopiki
Affiliation:
Electrical Engineering Study Program, Faculty of Engineering, University of 17 August 1945, Surabaya, Indonesia
Keyword(s):
Robot, Fuzzy, PID, Human.
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.