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Indonesian Journal of Engineering and Technology (INAJET)
Published by Universitas Negeri Surabaya
ISSN : -     EISSN : 26232464     DOI : http://dx.doi.org/10.26740/inajet
Core Subject : Science, Engineering,
Civil Engineering, Building, Construction & Architecture Computer Science & IT Electrical & Electronics Engineering Engineering Mechanical Engineering
Indonesian Journal of Engineering and Technology (INAJET) is a scientific journal that publishes peer-reviewed research papers in the fields of Engineering and Technology, both theoretical, experimental, and application studies, including: Electrical Engineering, Mechanical Engineering, Informatics, Industrial Engineering, Civil Engineering.
Arjuna Subject : Teknik (semua kategori) - Teknik (Lain-Lain)
Articles 1 Documents
 1 
Search results for , issue "Vol. 8 No. 2 (2026): April 2026" : 1 Documents clear
PID-Based Motion Control of a Differential Drive Robot: A Simulation Study in CoppeliaSim Setiawan, Fachruddin Ari; Marzani, Ghali; Budianto, Daffa Arkana Sheva; Hadinata, Muhamad Julian
Indonesian Journal of Engineering and Technology (INAJET) Vol. 8 No. 2 (2026): April 2026
Publisher : Fakultas Teknik Universitas Negeri Surabaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26740/inajet.v8n2.p1-8

Abstract

Motion control is a critical aspect of mobile robot operation, particularly for differential drive robots that require precise regulation of linear and angular velocities. This paper presents the implementation of a PID-based motion control system for a differential drive mobile robot in a CoppeliaSim simulation environment. The proposed control architecture employs two independent PID controllers operating in a closed-loop configuration to regulate the robot’s linear (surge) and angular (yaw) velocities. The robot kinematic model is used to transform the controller outputs into wheel velocity commands. Several simulation scenarios with varying velocity references were conducted to evaluate the performance of the proposed approach. Controller performance was assessed using standard metrics, including transient response characteristics and Root Mean Square Error (RMSE). The simulation results demonstrate that the PID controller achieves stable tracking of the desired velocity references with low tracking errors. The obtained RMSE values of 0.01339 for linear velocity and 0.01496 for angular velocity indicate reliable motion control performance in the simulated environment. The controller performance is further characterized by its steady-state accuracy and transient response behavior during setpoint changes. These findings confirm that PID-based control remains an effective and practical solution for low-level motion control of differential drive robots and provides a solid baseline for further research and experimental validation.

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