Implementasi Sistem Kontrol PID untuk Orientasi Robot Hexapod
DOI:
https://doi.org/10.30871/jaee.v9i1.9085Kata Kunci:
Adaptive PID control, Fuzzy logic, Hexapod robot, IMU sensorAbstrak
Penelitian ini bertujuan untuk meningkatkan stabilitas dan
dan akurasi gerak robot hexapod pada kompetisi SAR di
Indonesia menggunakan sistem kontrol PID adaptif yang dikombinasikan dengan
logika fuzzy. Kontrol PID memiliki kelebihan pada sistem linier tetapi kurang
responsif terhadap kondisi dinamis, sedangkan logika fuzzy dapat menghasilkan
respon adaptif yang lebih fleksibel. Sistem yang diusulkan menggunakan sensor IMU
sensor untuk mengukur kesalahan arah, di mana data ini kemudian
diproses oleh kontrol fuzzy untuk mengatur parameter PID secara real
waktu. Pengujian menunjukkan bahwa metode ini menghasilkan pemulihan rata-rata
waktu 3,06 detik, waktu naik 1,99 detik, dan overshoot
sekitar 10% hingga 15,6%. Hasil ini menunjukkan adanya peningkatan dalam
efisiensi robot dalam bernavigasi di lingkungan yang kompleks,
sehingga meningkatkan kinerja dalam aplikasi nyata.
Translated with DeepL.com (free version)
Unduhan
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- 2025-06-28 (2)
- 2025-06-28 (1)
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