Optimization of Food Delivery Robot Using the PID Method Ziegler Nichols Type 2 and Fuzzy Logic Mamdani

Abstract

In this research in this research, the Ziegler-Nichols Type 2 PID method was used in the development of a food delivery robot that has a line follower sensor. The PID control system is used to correct input variable (sensor) measurement errors so that the system output matches the set point value to produce the smallest possible error. Ziegler-Nichols Type 2 is used for path detection optimization. Fuzzy is used to adjust the speed of the robot’s movement based on the type and weight of food against obstacles in the path. In this research, a food delivery robot containing 0% liquid and 100% liquid will be tested. The calculation of this method results in Kp 1.2, Ki 7.038, and Kd 0.051, the overshoot value is 45.2581, and the rise time is 64.2857. The optimization was carried out using the trial-and-error method, and the results obtained were Kp 0.06, Ki 0.032, Kd 0.0001, the overshoot value was 40.7109, and the rise time was 45.2286. In the fuzzy logic test, it was found that the fastest time to reach a distance of 200 cm was 3.74 seconds at the initial PWM 47% with no food load, and the longest time was 17.41 seconds at the initial PWM 31.4% with a food load of 1300gram. This occurred when delivering food that contains 100% liquid, and the success rate in food delivery is 87.5%.