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All Journal IAES International Journal of Artificial Intelligence (IJ-AI) Jurnal Mikro Tiga Bulletin of Electrical Engineering and Informatics Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Jurnal Rekayasa Sriwijaya Sinergi JURNAL NASIONAL TEKNIK ELEKTRO Proceeding of the Electrical Engineering Computer Science and Informatics Science and Technology Indonesia Jurnal RESTI (Rekayasa Sistem dan Teknologi Informasi) JTERA (Jurnal Teknologi Rekayasa) JRST (Jurnal Riset Sains dan Teknologi) Jurnal Elektronika dan Telekomunikasi Jurnal Teknik Kimia JURNAL SURYA ENERGY Jurnal Komunitas: Jurnal Pengabidian Kepada Masyarakat Jurnal Pengabdian UNDIKMA Indonesian Community Journal MDP Student Conference Jurnal Rekayasa elektrika SULUH ABDI : Jurnal Ilmiah Pengabdian Kepada Masyarakat Jurnal Ecotipe (Electronic, Control, Telecommunication, Information, and Power Engineering) Jurnal Akademika Baiturrahim Jambi
Suci Dwijayanti
Department Of Electrical Engineering, Faculty Of Engineering, Universitas Sriwijaya
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Comparative Performance of Fuzzy Logic and PID Steering Control for Improved Swerve Autonomous Vehicles Suprapto, Bhakti; Dwijayanti, Suci
Jurnal RESTI (Rekayasa Sistem dan Teknologi Informasi) Vol 10 No 2 (2026): April 2026
Publisher : Ikatan Ahli Informatika Indonesia (IAII)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.29207/resti.v10i2.7594

Abstract

This study presents a performance comparison of a fuzzy logic controller with a proportional-integral-derivative (PID) controller in an autonomous vehicle steering controller based on an improved swerve drive. The advantage of this swerve drive system is that it provides high maneuverability in tight spaces by utilizing nonlinear kinematic behavior and strong coupling between translational and rotational motions. This is a challenge for conventional control strategies. To overcome this problem, a fuzzy logic controller is used, which has the ability to work in more dynamic conditions. To support the control system for precision, a good structural design is required. The feasibility of the proposed improved swerve drive mechanical design is verified through finite element-based structural analysis to ensure that the control performance is not limited by mechanical constraints. Testing results show that the configuration of seven membership functions in the fuzzy logic controller provides the best performance, with an overshoot value of 7.33% and a steady-state error of 0.0324. Real-time testing of this electric vehicle prototype was conducted in five scenarios: straight road, 90° turn, parallel parking, obstacle avoidance, and on-the-spot maneuvering. The testing results also show that the fuzzy logic controller consistently outperforms the PID controller by reducing tracking error, minimizing overshoot, and achieving faster settling times, especially under complex motion conditions. Structural validation also confirms that this improved swerve drive, operating within the elastic limits of the material, supports the implementation of reliable control strategies.
Co-Authors A. Wahyudin Afnizar Azmi Agam, Regan Akbar, Ahmad Reinaldi Al Hafiz, Dimsyiar M. Aldi Ramadhani Aldi Ramadhani Althaf Taufiqurrahman Alvina Suryadinata Alvina Suryadinata Alvio Yunita Putri Amirulsyah, Ahmad Rizky Amri, Djulil Aulia Ghaida Bazlina Dawami Afrah Bhakti Yudho Suprapto Bhakti Yudho Suprapto Bhakti Yudho Suprapto Bhakti Yudho Suprapto Bhakti Yudho Suprapto Bhakti Yudho Suprapto Bhakti Yudho Suprapto Bhakti Yudho Suprapto Capelo, Febyo Caroline Caroline Charisma Ayu Pramuditha Cundari, Lia Darma Sandi Darma Sandi Dimsyiar M Al Hafiz Djulil Amri Djulil Amri Farhan Abie Ardandy Febby Nora Fitria, Syarifa Fortuna Sinulingga , Regita Harry, Caroline Hera Hikmarika Hera Hikmarika Hera Hikmarika, Hera Herlina Herlina Hermawati Hermawati Hermawati Hermawati Hermawati Hermawati, Hermawati Hermawati, Harmawati Ika Juliantina Ike Bayusari Irmawan Irmawan Javen Jonathan Luthfiyah A. Sayyidah Muhammad Iqbal Muhammad Iqbal Muhammad Ridho Ramadhan Muhammad Yusup Muhammad Yusup Mutiyara, Mutiyara Otong, Muhammad Pohan, Immanuel Morries Prasetyo, Robi Rahmattullah, Muhammad Syukron Rahmawati Rahmawati Regita Umami Rendyansyah Retno Widowati Rizda Fitri Kurnia, Rizda Fitri Rudyanto Thayeb Sandi, Darma Sri Agustina, Sri Suprapto, Bhakti Suprapto, Bhakti Yudho Thayeb, Rudyanto Wirawan Dwi Harsanto Yenny Aulya Yogta, Abeng Yuniarti, Dwirina Zainuddin Nawawi