Self-Tunning Fuzzy Based of Exponential Control Switching in Cascade Control System for Robot With Differential Drive
Putra Wisnu Agung Sucipto, Annisa Firasanti, Seta Samsiana, Eki Ahmad Zaki Hamidi

1,2,3, ELectrical Engineering Department, Universitas Islam 45 Bekasi
4, Electrical Engineering Department, UIN Sunan Gunung Djati Bandung


Abstract

Controlling the robot position using differential drive requires heading and distance adjustment. The robot^s heading is adjusted by maintaining the angle of the robot^s orientation so that it remains directed at the target position accompanied by the action of minimizing the robot^s distance to the stopping terminal point. Maintaining the robot^s heading while maintaining distance to the target at the same time is not an easy task. These two variables need to be controlled so that there is no dominance of the controller response signal so that the response time and transition can be achieved with good conditions. This paper presents a compensator that regulates the heading weight coefficient as a determinant of the activation conditions for the motion command signal. Fuzzy logic is used as the basis of reasoning to compensate control response delay that is channeled to the robot. The PID controller for distance adjustment is connected to this compensator before its output is summed with the heading adjustment PID controller. The simulation results show the efficiency of time and distance traveled as well as the effectiveness of handling movement in dead ends.

Keywords: Fuzzy Logic, Compensator, PID, Bow, Distance

Topic: Symposium on Advance of Sustainable Engineering

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