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All Journal Al Ishlah Jurnal Pendidikan Jurnal Ilmiah Pendidikan Fisika PENDIPA Journal of Science Education Jurnal Pendidikan Matematika Raflesia BIOEDUSAINS: Jurnal Pendidikan Biologi dan Sains Journal on Education Jurnal Kumparan Fisika JURNAL PENDIDIKAN MIPA Dharma Raflesia : Jurnal Ilmiah Pengembangan dan Penerapan IPTEKS Munaddhomah: Jurnal Manajemen Pendidikan Islam Jurnal Inovasi Pengabdian Masyarakat Pendidikan Jurnal Nasional Teknik Elektro dan Teknologi Informasi Amplitudo: Jurnal Ilmu dan Pembelajaran Fisika Andromeda: Jurnal Pengabdian Masyarakat Rafflesia Journal of Fuzzy Systems and Control (JFSC) Jurnal Biosilampari: Jurnal Biologi
Afrizal Mayub
Universitas Bengkulu
Religion Agriculture, Biological Sciences & Forestry Humanities Biochemistry, Genetics & Molecular Biology Chemistry Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Immunology & microbiology Languange, Linguistic, Communication & Media Mathematics Physics Social Sciences Other

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Fuzzy-PID Control for Balancing a Two-Wheeled Inverted Pendulum Robot Fahmizal; Afrizal Mayub; Lintang Fathia Rafanah; Smail Latifa
Journal of Fuzzy Systems and Control Vol. 4 No. 1 (2026): Vol. 4 No. 1 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v4i1.390

Abstract

A two-wheeled inverted pendulum robot (TWIPR) requires continuous control action because its upright position is inherently unstable and highly sensitive to disturbances. This research proposes the use of a fuzzy-PID controller to keep the TWIPR balanced. Although PID has several advantages, its performance can degrade when the system is subjected to changing conditions. To address this, fuzzy logic is applied to enhance the adaptive capabilities of the PID controller. The fuzzy system dynamically generates PID parameters based on predetermined fuzzy rules, effectively maintaining system stability. The fuzzy membership functions used, namely MF3, MF5, and MF7, were compared through no-load and loaded tests. In the no-load test, the fuzzy-PID with MF7 reduced rise time, settling time, overshoot, peak value, and peak time by 1.229%, 0.673%, 86.703%, 7.232%, and 2.952%, respectively, compared with those of the conventional PID. However, the MF3 configuration only excels in overshoot and peak time, while the MF5 configuration only shows improvements in settling time, overshoot, and peak value. Further testing results show that Fuzzy-PID with MF7 provides the most stable performance under load conditions.
Co-Authors ACENG RUYANI Agus Setyowati Annisatul Jannah Arsela Eko Listiono Bebby Rino Oksatianti Bhakti Karyadi Bukman Lian, Bukman Cariti Dassa Urra Dede Solihudin Dedy Hamdani Deni Parlindungan Dhiya Uddin Rijalussalam Dwi Canna Orenta Elcane Ega Marita Delima Eka Nur Indah Septioningrum Eko Risdianto Elda Handayani Elda Elza Heryensi Fahmizal Fahmizal Fahmizal Fatimah Azzahrah Fitri April Yanti Henny Johan Irwan Koto Lintang Fathia Rafanah M Lutfi Firdaus M. Anas Thohir M. Sutarno Ma’un Budiyanto Muchammad Farid Muhammad Arrofiq Mail Nadia Fitria Wulandari Niki Dwi Dia Dara Noorzana Khamis Nursaadah, Euis Rendy Wikrama Wardana Rinda Fitri Handayani Risma Afrida Sari Smail Latifa Sutarno Sutarno Ur Aniliawati