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All Journal Journal of Applied Electrical Engineering
Ryan Satria Wijaya
Robotics Engineering Technology Study Program, Electrical Engineering Department, Politeknik Negeri Batam, Batam, Indonesia
Control & Systems Engineering Electrical & Electronics Engineering

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Performance Evaluation of a Custom PID-Based Flight Controller Board for Quadcopter Stabilization Ahmad Riyad Firdaus; Daipansyah Arya Saputra; Ezha Tri Saputra; Hendawan Soebhakti; Ryan Satria Wijaya
Journal of Applied Electrical Engineering Vol. 10 No. 1 (2026): JAEE, June 2026
Publisher : Politeknik Negeri Batam

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30871/jaee.v10i1.12608

Abstract

This paper presents the design, implementation, and evaluation of a custom standalone flight controller board for quadcopter stabilization using a cascaded Proportional–Integral–Derivative (PID) control architecture. The hardware integrates an STM32F405 microcontroller, a BMI270 inertial measurement unit (IMU), and a BMP280 barometric sensor to support attitude and altitude control. Experimental evaluations included IMU accuracy testing, rig-based attitude stabilization, and real-flight trials. The IMU achieved average angular errors of ±0,24° (roll), ±0,74° (pitch), and ±0,41° (yaw), indicating reliable orientation measurement. Step-response analysis showed stable transient behavior, with overshoot values of 9,375% for roll, 25% for pitch, and 1,58% for yaw. Static attitude tests yielded mean absolute errors of 0,171° (pitch) and 0,380° (roll). Flight tests confirmed stable attitude and altitude maintenance under real operating conditions. These results demonstrate that the proposed flight controller provides reliable and scalable performance for quadcopter research and development applications.
Implementation of 5-DOF Robot Arm Control with Inverse Kinematics Through Interactive GUI Ryan Satria Wijaya; Muhamad Ilham; Eko Rudiawan Jamzuri; Anugerah Wibisana; Rifky Afriza; Emelia Rosari Siregar; Senanjung Prayoga
Journal of Applied Electrical Engineering Vol. 10 No. 1 (2026): JAEE, June 2026
Publisher : Politeknik Negeri Batam

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30871/jaee.v10i1.12658

Abstract

This work presents a control system for a five-joint (5-DOF) robotic arm designed for educational use, combining geometric inverse kinematics with a custom Python graphical interface. Instead of relying on iterative approaches, a closed-form inverse kinematics formulation is implemented to directly derive joint configurations from Cartesian coordinates. System functionality is supported through communication between a host computer and an ESP32 microcontroller via UART serial interface, enabling real-time control, workspace verification, and kinematic validation using forward kinematics. For simplicity in operation, the wrist orientation is kept fixed so that the control system focuses primarily on positional accuracy. experimental results show an average IK computation time of 1,7 ms, a mean positioning error of 2,46 mm, and a peak deviation of 4,91 mm across representative workspace targets. The obtained results confirm that the system achieves stable and reliable performance suitable for low-cost laboratory experimentation and educational robotics applications.
Co-Authors Ahmad Riyad Firdaus Anugerah Wibisana Daipansyah Arya Saputra Eko Rudiawan Jamzuri Emelia Rosari Siregar Ezha Tri Saputra Hendawan Soebhakti Muhamad Ilham Rifky Afriza Senanjung Prayoga