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Tran, Nguyen-Thanh-Loc
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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An Enhanced PID-Based Motion Control Framework for Autonomous Line-Following Robot Tran, Nguyen-Thanh-Loc; Bui, Viet-Tien-Dung; Bui, Hong-Nho; Nguyen, Hoang-Nguyen; Nguyen, Thi-Ngoc-Thao; Nguyen, Thanh-Sang; Nguyen, Hung-Ky; Nguyen, Huynh-Duc-Anh; Phan, Thanh-Binh; Luong, Hoang-Sang; Nguyen, Le-Minh-Tan; Tran, Vo-Minh-Khoa; Nguyen, Tien-Dat; Pham, Huynh-Khanh-Nam; Nguyen, Duc-Dat; Nguyen, The-Nhan
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.v4i1.368

Abstract

PID controller is widely used in automatic control systems because it is simple, reliable, and easy to apply. It is especially suitable for mobile robots, such as line-following robots. The main contribution of this work is an experimental method to tune PID parameters. Instead of using complex algorithms, the parameters are adjusted and tested directly on a real robot. This makes the method easier to apply, especially for low-cost and educational systems. Experiments were conducted to evaluate how PID parameters (Kp, Ki, and Kd) affect the robot’s performance. The robot was tested on different paths, including straight lines, curves, and 90-degree turns. The results show that the optimal parameters are Kp = 65, Ki = 0.1, and Kd = 13. With these values, the robot moves smoothly, responds quickly, and follows the path accurately.
Co-Authors Bui, Hong-Nho Bui, Viet-Tien-Dung Luong, Hoang-Sang Nguyen, Duc-Dat Nguyen, Hoang-Nguyen Nguyen, Hung-Ky Nguyen, Huynh-Duc-Anh Nguyen, Le-Minh-Tan Nguyen, Thanh-Sang Nguyen, The-Nhan Nguyen, Thi-Ngoc-Thao Nguyen, Tien-Dat Pham, Huynh-Khanh-Nam Phan, Thanh-Binh Tran, Vo-Minh-Khoa