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Tugas Akhir

Implementation of proportional-integral-derivative (pid) control system for line follower maneuver based food delivery robots / Muhammad Febrian Harnianza

Abstrak
The food delivery robot is designed using the infrared sensor-based line follower method. The Proportional-Integral-Derivative (PID) control system is implemented to improve the accuracy and stability of the robot s movement when following the path. With PID control the robot s movement becomes much smoother and more controlled. The system automatically adjusts the speed of the left and right motors based on the position error to the line resulting in a more balanced motor speed difference. These results show an increased response to changes in the direction of the path so that the robot is able to adjust its direction of motion without losing track. Overall the implementation of the PID control system has been shown to provide significant improvements to the robot s maneuvering performance. PID helps reduce position errors stabilizes motor movements and allows the robot to navigate complex paths independently and reliably. The PID was tuned using the Ziegler-Nichols method yielding optimal parameters of Kp 6 Ki 0.75 and Kd 12. Testing results revealed that the robot with PID completed the track faster (23.8 seconds) compared to without PID (29.8 seconds) with a significant reduction in positional error from 94% to 4%. The robot rsquo s movement was notably smoother and more consistent when using PID making it well-suited for tasks like food delivery where minimizing vibration is critical. Thus the PID system proved to be an effective and reliable solution for autonomous robot navigation in restaurant environments.

Informasi Detail
DDC
TUGAS AKHIR DIGITAL
Prodi
Universitas Negeri Malang. Program Studi Teknologi Rekayasa Sistem Elektronika, .
Deskripsi Fisik
viii, 49 hlm. : ilus.
Bahasa
No Reg
0040/TA/25
Edisi
Tugas Akhir (Diploma)--Universitas Negeri Malang. 2025
Subjek
1. ROBOT - PENGANTAR MAKANAN
2. ROBOT - FOOD DELIVERY
Pembimbing
1. Dr. Muladi, S.t., M.t.
Lampiran Berkas