Improvement of DC Motor Speed Control for Mobile Robot to Minimize Slip Phenomenon

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Field Value
 
Title Improvement of DC Motor Speed Control for Mobile Robot to Minimize Slip Phenomenon
 
Creator Marta, Bayu Sandi
Sari, Dewi Mutiara
 
Subject Slip, Omnidirectional, Mobile Robot, DC Motor Speed
 
Description Slip on the mobile robot has a significant impact on the maneuver and the accuracy of the mobile robot movement. The slip phenomenon occurs because of the loss of traction between the surface and the wheels due to the spontaneous acceleration or declaration application. This paper presents a method to improve DC motor performance by using slip control as an observer such that the slip phenomenon effect can be minimized. The performance that will be analyzed is the accuracy of motor speed and robot position accuracy when the robot is moving. The result shows that the Root Mean Squared Error (RMSE) for the motor speed performance that does not use slip control is 2.680, the system using slip control produces RMSE 1.3393. Regarding the robot position accuracy, the RMSE of the system that does not use slip control is 0.0379, the system using slip control is 0.0065.
 
Publisher Universitas Dr. Soetomo
 
Contributor Politeknik Elektronika Negeri Surabaya
RoISC (Robotic and Intelligent Systems Center) Lab
 
Date 2021-01-31
 
Type info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion

 
Format application/pdf
 
Identifier https://ejournal.unitomo.ac.id/index.php/inform/article/view/3406
10.25139/inform.v6i1.3406
 
Source Inform : Jurnal Ilmiah Bidang Teknologi Informasi dan Komunikasi; Vol 6, No 1 (2021); 28-34
2581-0367
2502-3470
 
Language eng
 
Relation https://ejournal.unitomo.ac.id/index.php/inform/article/view/3406/pdf
https://ejournal.unitomo.ac.id/index.php/inform/article/downloadSuppFile/3406/766
https://ejournal.unitomo.ac.id/index.php/inform/article/downloadSuppFile/3406/767
https://ejournal.unitomo.ac.id/index.php/inform/article/downloadSuppFile/3406/768
 
Rights Copyright (c) 2021 Inform: Jurnal Ilmiah Bidang Teknologi Informasi dan Komunikasi
http://creativecommons.org/licenses/by-sa/4.0
 

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