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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control) Semesta Teknika Journal of Electrical Technology UMY Emerging Science Journal BERDIKARI : Jurnal Inovasi dan Penerapan Ipteks Emerging Information Science and Technology
Tony K Hariadi
Universitas Muhammadiyah Yogyakarta
Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Environmental Science Library & Information Science

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Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic Suwarno, Iswanto; Ma'arif, Alfian; Raharja, Nia Maharani; Hariadi, Tony Khristanto; Shomad, Muhammad Abdus
Emerging Science Journal Vol. 4 (2020): Special Issue "IoT, IoV, and Blockchain" (2020-2021)
Publisher : Ital Publication

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28991/esj-2021-SP1-016

Abstract

COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. Doi: 10.28991/esj-2021-SP1-016 Full Text: PDF
Co-Authors Agus Jamal Agus Jamal Alfian Ma’arif Amelia Mutiara Ayu Ratiwi Anna NN Chamim Ayu Ratiwi, Amelia Mutiara Cahya Damarjati Faaris Mujaahid Firdaus, Ilyas Eryansyah Indira Prabasari Indira Prabasari, Indira Iswanto Suwarno Milou Derks Nafi A Utama Nafi Ananda Utama Nia Maharani Raharja Nia Maharani Raharja Norazhar Bin Mohamed Sepet Nurohman Fadilah Ramadoni Syahputra Shomad, Muhammad Abdus Shomad, Muhammad Abdus Slamet Riyadi Slamet Riyadi Suwarno, Iswanto Taufiq Hidayat Utama, Nafi Ananda Wee Eng Soon Widyasmoro, Widyasmoro Zuhri, Afrizal Zulfan Fadholi