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All Journal Jurnal Instrumentasi
Saepulrohman, Asep
Department of Computer Science, Universitas Pakuan
Agriculture, Biological Sciences & Forestry Chemistry Electrical & Electronics Engineering Engineering Materials Science & Nanotechnology

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IMPLEMENTASI PROPOTIONAL-INTEGRAL-DERIVATIVE CONTROL PADA ROBOT PEMBERSIH LANTAI Ismangil, Agus; Putra, Gustian Rama; Saepulrohman, Asep; Nadifah, Julia Putri
Instrumentasi Vol 50, No 1 (2026): Dalam Proses Penerbitan
Publisher : National Standardization Agency of Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31153/instrumentasi.v50i1.744

Abstract

The development of life in the modern era is currently very rapid, especially cleaning robots. The problem that often occurs with the use of existing vacuum cleaners is considered too cumbersome, namely manual movement with human assistance, so users cannot engage in other activities. Therefore, a robot vacuum cleaner that can move independently and avoid obstacles is needed. PID control is a control method that is widely used in control engineering. has 3 calculation capabilities in the control action of a system, namely Proportional, Integral, and Derivative. The setpoint, which is equal to the distance of the object (20cm), helps the robot avoid objects in front of it. The test results using the Trial and Error method produced PID values (Kp = 0.002, Ki = 0, Kd = 12) with a target setpoint of 20, achieving a rise time of 1 second, a maximum overshoot of 10%, and a peak time of 2 seconds.
Co-Authors Ismangil, Agus Nadifah, Julia Putri Putra, Gustian Rama