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.
Improvement of DC Motor Speed Control for Mobile Robot to Minimize Slip Phenomenon
2021-01-31
doi:10.25139/inform.v6i1.3406
Inform : Jurnal Ilmiah Bidang Teknologi Informasi dan Komunikasi; Vol. 6 No. 1 (2021); 28-34 ; 2581-0367 ; 2502-3470
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Improvement of DC Motor Speed Control for Mobile Robot to Minimize Slip Phenomenon
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