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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Jurnal Pengabdian kepada Masyarakat Nusantara Internet of Things and Artificial Intelligence Journal
Petrus Sutyasadi
Sanata Dharma University
Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Electrical & Electronics Engineering Engineering Social Sciences

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Enhancing Segway scooter optimization for adaptive stability with proportional derivative control system Artanto, Dian; Pranowo, Ignatius Deradjad; Sutyasadi, Petrus
International Journal of Electrical and Computer Engineering (IJECE) Vol 15, No 6: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v15i6.pp5266-5275

Abstract

This study presents a locally manufactured Segway scooter utilizing a proportional derivative (PD) control system for adaptive stability under load variations. The system employs a lookup table correlating PD parameters with user weight categories (50–60 kg, 60–70 kg, 70–80 kg). Constructed from lightweight steel and powered by a 24 V lithium-ion battery, the prototype supports up to 85 kg while maintaining energy efficiency. Experimental results confirm the PD controller’s effectiveness in achieving stability with minimal oscillation across all tested loads. It sustains a steady- state error below 0.5° (50–60 kg) and under 1° (70–80 kg), with oscillations under 7° and recovery from 35° disturbances. Compared to complex methods like genetic algorithms or fuzzy logic, the PD system offers greater simplicity and cost-efficiency. It matches fuzzy-PID stability while reducing computational overhead by 20–40% and power consumption to 10–20 W/s, outperforming conventional PID in dynamic load adaptability. The integration of PD control with locally sourced materials underscores the solution’s sustainability and practicality, providing a scalable, energy- efficient paradigm for personal transportation with robust performance across varying conditions.
Co-Authors Anurogo, Baskoro Latu Bernardinus Sri Widodo Cahyono, Eko Aris Budi Dechrit Maneetham Dechrit Maneetham Dian Artanto Elang Parikesit Elang Parikesit Gregorius Budi Subanar Halim, Enrico Ignatius Deradjad Pranowo Indratma, Samuel Lukiyanto, Yohanes Baptista Manukid Parnichkun Martinus Bagus Wicaksono Siswoyo, Agus