Mobile robot's ability to maintain its speed is very important. When the robot is running and there is disturbance from outside system that affect the robot, causing the speed of the robot becomes unstable. For it is necessary to add a mechanism that is able to make the robot keep pace, one of them by giving control. This research will be built a speed control system on a mobile robot. The speed control system aims to improve performance and stability robot speed by minimizing the effect of unmeasured disturbances from outside the robot eg mechanical changes such as granting a load that can cause changes in the behavior of the system so that the necessary arrangements back to the control system. In this control system used control Proportional, Integral, Derivative (PID) and the analysis of disturbance based Disturbance Observer (DOB). PID control functions to improve motor performance robot. While DOB functions to analyze the disturbance from outside robot. The results of the implementation of the Disturbance Observer to PID control produce average root mean square error value of the reference value for the speed of 19.59 rpsfor right motor and left motor is 16.66 rps. While the average root mean square error of the reference value with PID control without Disturbance Observer on the right motor is 24.47 rps and the left motor is 18.89 rps. Keywords :
| Published by | Politeknik Negeri Balikpapan |
| Journal Name | JTT (Jurnal Teknologi Terpadu) |
| Contact Phone | - |
| Contact Name | - |
| Contact Email | - |
| Location | Kota balikpapan, Kalimantan timur INDONESIA |
| Website | jtt| http://jurnal.poltekba.ac.id/index.php/jtt| |
| ISSN | ISSN : 23386649, EISSN : 24775177, DOI : -, |
| Core Subject | Science, Engineering, |
| Meta Subject | Civil Engineering, Building, Construction & Architecture, Control & Systems Engineering, Materials Science & Nanotechnology, Mechanical Engineering, |
| Meta Desc | JTT (Jurnal Teknologi Terpadu) dengan ISSN 2477-5177 (media online) dan 2338-6649 (media cetak), adalah jurnal ilmiah yang mempublikasikan hasil penelitian dibidang inovasi teknologi terapan dengan cakupan: Teknik Mesin, Teknik Elektro, Teknik Sipil, dan Teknik Telekomunikasi. |
| Penulis | Marta, Bayu Sandi , Ferdiansyah, Indra , Ardila, Fernando |
| Publisher Article | Pusat Penelitian dan Pengabdian Kepada Masyarakat |
| Subtitle Article | Jurnal Teknologi Terpadu Vol 6, No 2 (2018): JTT (Jurnal Teknologi Terpadu) |
| Scholar Google | http://scholar.google.com/scholar?q=%2Bintitle%3A&… |
| View Article | http://jurnal.poltekba.ac.id/i… |
| DOI | https://doi.org/10.32487/jtt.v6i2.4… |
| DOI Number | DOI: 10.32487/jtt.v6i2.461 |
| Download Article [1] | http://jurnal.poltekba.ac.id/index.php/j… |
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