Open AccessImplementasi Kendali Keseimbangan Gerak Two Wheels Self Balancing Robot Menggunakan Fuzzy Logic
Author(s) -
Khoirudin Fathoni,
Ababil Panji Pratama,
Nur Azis Salim,
Vera Noviana Sulistyawan
Publication year - 2021
Publication title -
jurnal teknik elektro/jurnal teknik elektro
Language(s) - English
Resource type - Journals
eISSN - 2549-1571
pISSN - 1411-0059
DOI - 10.15294/jte.v13i2.33414
Subject(s) - robot , control theory (sociology) , fuzzy logic , computer science , fuzzy control system , noise (video) , artificial intelligence , control engineering , computer vision , engineering , control (management) , image (mathematics)
Self balancing robot is a two-wheeled robot that only has two fulcrums so that this robot is an unbalanced system. Therefore, a control system that can maintain the stability of the robot is needed so that the robot can keep in standing position. This study aims to design a self-balancing robot and its control system which improves the robot's performance against the maximum angle of disturbance that can be overcome. The control system used is based on fuzzy logic with 9 membership functions and 81 rules. The control system is applied to the ESP-32 microcontroller with the MPU-6050 sensor as a feedback position of the robot and DC motor as an actuator. Complementary filters are added to the MPU-6050 sensor readings to reduce noise to obtain better robotic tilt angle readings. The improvement of this research compared to previous research based on fuzzy is the addition of the number of membership functions from 7 to 9 and the embedding of a complementary filter on the MPU-6050 sensor output reading. The result shows that the designed self balancing robot which has dimensions of 10cm x 18cm x 14.5cm can cope with the maximum disturbance angle up to 17.5⁰.