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All Journal E-Dimas: Jurnal Pengabdian kepada Masyarakat International Journal of Artificial Intelligence Research DIKEMAS (Jurnal Pengabdian Kepada Masyarakat) JEECAE (Journal of Electrical, Electronics, Control, and Automotive Engineering) Manutech : Jurnal Teknologi Manufaktur J-ADIMAS (Jurnal Pengabdian kepada Masyarakat) Jurnal INOVTEKSeri Elektro Jurnal Pengbdian Teknik Mesin Jurnal FORTECH
Arrosida, Hanum
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Humanities Automotive Engineering Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Languange, Linguistic, Communication & Media Materials Science & Nanotechnology Mechanical Engineering Social Sciences

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Journal : International Journal of Artificial Intelligence Research

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The Design of Optimal PID Control Method for Quadcopter Movement Control Arrosida, Hanum; Echsony, Mohammad Erik
International Journal of Artificial Intelligence Research Vol 2, No 1 (2018): June 2018
Publisher : Universitas Dharma Wacana

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (456.65 KB) | DOI: 10.29099/ijair.v2i1.32

Abstract

Nowadays, quadcopter motion control has become a popular research topic because of its versatile ability as an unmanned aircraft can be used to alleviate human labor and also be able to reach dangerous areas or areas which is unreachable to humans. On the other hand, the Optimal PID control method, which incorporates PID and Linear Quadratic Regulator (LQR) control methods, has also been widely used in industry and research field because it has advantages that are easy to operate, easy design, and a good level of precision. In the PID control method, the main problem to be solved is the accuracy of the gain value Kp, Ki, and Kd because the inappropriateness of those value will result in an imprecise control action. Based on these problems and referring to the previous study, the optimal PID control method was developed by using PID controller structure with tuning gain parameter of PID through Linear Quadratic Regulator (LQR) method. Through the integration of these two control methods, the optimum solutions can be obtained: easier controller design process for quadcopter control when crossing the determined trajectories, steady state error values less than 5% and a stable quadcopter movement with roll and pitch angle stabilization at position 0 radians with minimum energy function.
Co-Authors Achmad Aminudin Agus Susanto Agus Susanto Alfianto, Dwi Andriyani, Reza Putri Arya Pambudi, Rilo Novanda Bagus Setyawan, Sulfan Busori, Akhmat Erik Echsony, Mohammad Farid Majedi, Farid Ida Ayu Putu Sri Widnyani Ismiyati, Ismiyati Jahidin, Dimas Nur Kholis Nur Faizin, Kholis Nur Mutthoharroh, Anisatul Najib, Nor Fachrudin Noorsakti Wahyudi Pambudi, Rilo Rahayu Mekar Bisono, Rahayu Mekar Salim, Alfi Tranggono Agus Shahab, Dahris Sudaryanto, Albert Sulfan Bagus Setyawan Taufiq Mahendra, Moh. Wida Yuliar Rezika, Wida Yuliar Yuwono, Indarto