Efficient PID Controller based Hexapod Wall Following Robot

Satrian Purnama, Hendril and Sutikno, Tole and Widodo, Nuryono Satya and Alavandar, Srinivasan Efficient PID Controller based Hexapod Wall Following Robot. [Artikel Dosen]

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Abstract

This paper presents a design of wall following behaviour for hexapod robot based on PID controller. PID controller is proposed here because of its ability to control many cases of non-linear systems. In this case, we proposed a PID controller to improve the speed and stability of hexapod robot movement while following the wall. In this paper, PID controller is used to control the robot legs, by adjusting the value of swing angle during forward or backward movement to maintain the distance between the robot and the wall. The experimental result was verified by implementing the proposed control method into actual prototype of hexapod robot.

Item Type: Artikel Dosen
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisi / Prodi: Faculty of Industrial Technology (Fakultas Teknologi Industri) > S1-Electrical Engineering (S1-Teknik Elektro)
Depositing User: S.T., M.En Nuryono Satya Widodo
Date Deposited: 20 Apr 2020 15:21
Last Modified: 20 Apr 2020 15:21
URI: http://eprints.uad.ac.id/id/eprint/18451

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