Sheehan Rafif Ramadhan, . (2025) OPTIMASI PID CONTROLLER PADA LENGAN ROBOT 2 DOF MENGGUNAKAN METODE GENETIC ALGORITHM. Skripsi thesis, Universitas Pembangunan Nasional Veteran Jakarta.
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Abstract
A 2-DOF robotic arm requires a precise control system to enhance accuracy and operational efficiency. This study aims to optimize the parameters of a Proportional-Integral-Derivative (PID) controller using the Genetic Algorithm (GA) method. GA is selected as a solution to the limitations of conventional tuning methods such as Ziegler-Nichols, which often yield suboptimal results in nonlinear systems. The optimization process compares the control performance between Ziegler-Nichols and GA-tuned PID parameters (Kp, Ki, Kd). Evaluations were conducted through MATLAB/Simulink simulations, with performance assessed using overshoot, settling time, and steady-state error. The results indicate that the PID controller optimized with GA provides faster, more stable, and accurate responses than conventional tuning. Thus, GA proves to be an effective approach for enhancing control performance in 2-DOF robotic arm systems.
| Item Type: | Thesis (Skripsi) |
|---|---|
| Additional Information: | [No.Panggil: 2110311039] [Pembimbing: Muhammad Arifudin Lukmana] [Penguji 1: Muchamad Oktaviandri] [Penguji 2: Sigit Pradana] |
| Uncontrolled Keywords: | PID Controller, Robotic Arm, Genetic Algorithm, Simulink, Optimization. |
| Subjects: | T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Fakultas Teknik > Program Studi Teknik Mesin (S1) |
| Depositing User: | SHEEHAN RAFIF RAMADHAN |
| Date Deposited: | 08 Aug 2025 04:38 |
| Last Modified: | 08 Aug 2025 04:38 |
| URI: | http://repository.upnvj.ac.id/id/eprint/39392 |
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