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All Journal Electron: Jurnal Ilmiah Teknik Elektro Journal of Fuzzy Systems and Control (JFSC) Emitor: Jurnal Teknik Elektro
Ulya Darajat, Anisa
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Journal : Journal of Fuzzy Systems and Control (JFSC)

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Movement Control of Three Omni-Wheels Robot using Pole Placement State Feedback and PID Control Swadexi Istiqphara; Ulya Darajat, Anisa; Fahmizal; Ferdous, Mohammad Farhan
Journal of Fuzzy Systems and Control Vol. 1 No. 2 (2023): Vol. 1, No. 2, 2023
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v1i2.36

Abstract

Omni wheels robot have high efficiency in robot movement, but also have its own challenges in controlling this robot, especially robots with three omni wheels (3WD). This paper proposes a robot control system using the pole placement state feedback method to control the inner loop which controls the body reference speed, and PID method is used to control the outer loop which controls the robot's position in world coordinates. The results obtained using computer simulations show that the proposed method is able to control the robot's position in world coordinates even though there is an overshoot of 5- 10% on X and yaw axis, however the Y axis performance is overshoot more than 100% because of coupled effect thats still cannot be eliminated.
Co-Authors Fahmizal Faida, Afida Nur Ferdous, Mohammad Farhan Sumadi Swadexi Istiqphara Swadexi Istiqphara, Swadexi Umi Murdika Zulfi, M.Ridho