IMPLEMENTASI PROPOTIONAL-INTEGRAL-DERIVATIVE CONTROL PADA ROBOT PEMBERSIH LANTAI

Ismangil, Agus (Department of Computer Science, Universitas Pakuan)
Putra, Gustian Rama (Department of Computer Science, Universitas Pakuan)
Saepulrohman, Asep (Department of Computer Science, Universitas Pakuan)
Nadifah, Julia Putri (Department of Computer Science, Universitas Pakuan)

Jurnal Instrumentasi
Vol 50, No 1 (2026): Dalam Proses Penerbitan

The development of life in the modern era is currently very rapid, especially cleaning robots. The problem that often occurs with the use of existing vacuum cleaners is considered too cumbersome, namely manual movement with human assistance, so users cannot engage in other activities. Therefore, a robot vacuum cleaner that can move independently and avoid obstacles is needed. PID control is a control method that is widely used in control engineering. has 3 calculation capabilities in the control action of a system, namely Proportional, Integral, and Derivative. The setpoint, which is equal to the distance of the object (20cm), helps the robot avoid objects in front of it. The test results using the Trial and Error method produced PID values (Kp = 0.002, Ki = 0, Kd = 12) with a target setpoint of 20, achieving a rise time of 1 second, a maximum overshoot of 10%, and a peak time of 2 seconds.