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among various control strategies, a proportional integral derivative (pid) controller has been widely proposed to optimize the performance of a line tracking robot [8, 9]. however, the motivation of using a pid controller, instead of a proportional (p) or proportional integral (pi) controller, in a line tracking task has seldom been discussed. besides, the tuning process of pid parameters has not been fully understood. this is because a trial and error practice has been used in most cases.
di antara berbagai strategi kontrol, proporsional integral derivatif (pid) controller telah banyak diusulkan untuk mengoptimalkan kinerja robot pelacakan garis. namun, motivasi menggunakan pengontrol pid, bukan pengontrol proporsional (p) atau proporsional integral (pi), dalam tugas pelacakan garis jarang dibahas. selain itu, proses tuning parameter pid belum sepenuhnya dipahami. ini karena praktik trial and error telah digunakan dalam banyak kasus.