IMPLEMENTASI SISTEM KENDALI GERAK LURUS ROBOT THREE OMNI - DIRECTIONAL DRIVE DENGAN METODE PID FUZZY; IMPLEMENTATION OF THREE OMNI – DIRECTIONAL DRIVE ROBOT STRAIGHT MOVEMENT CONTROL SYSTEM WITH FUZZY PID METHOD

Hidayat, R Cahya, Agfianto Eko Putra

2015 | Skripsi | FMIPA

Three Omni Directional Drive Robot have many control system, and PID fuzzy control system is one of them. PID fuzzy control system would determine Kp, Ki, and Kd value independently. The error value and the change of error would be the input, whereas Kp, Kd, and Ki values would be the output. The algorithm applied in the process of inference rules is Mamdani rule method, where Weight Average Sugeno algorithm would be used in defuzzification process. The PID system using compass sensor detecting value to determine the robot angle position. From the gap score between the positions of the robot with a predetermined set point, then input of PID control could be determined. PID control will issue a final output value of the speed for driving each motors. The speed testing is conducted by seeing the effect of variations in the value of PID constants, speed, and distance traveled robot. From the test results obtained by Fuzzy PID control system span values Kp = 2.41, Ki = 0, and Kd = 3.32 at all speeds and distances.

Kata Kunci : PID self tuning; navigation; omni; wheeled robot.