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Al Al
Institut Teknologi Padang
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PERANCANGAN SISTEM KENDALI HEXACOPTER MENGGUNAKAN FUZZY LOGIC CONTROL Al, Al; Saputra, Arifwindi; Premadi, Aswir; Effendi, Asnal; Dasman, Dasman
Jurnal Teknologi dan Vokasi Vol 3 No 1 (2025): Jurnal Teknologi dan Vokasi
Publisher : ITP Press

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21063/jtv.2025.3.1.87-95

Abstract

The development of hexacopters has progressed significantly in both hardware and software, leading to increased complexity. Despite these advancements, several challenges remain. The nonlinear, multivariable, and dynamic nature of hexacopter systems often results in flight instability, suboptimal precision in movements, and reduced flight duration. To address these issues, this study proposes the implementation of a fuzzy logic control (FLC) system to enhance the performance and stability of hexacopters during flight. The control system aims to minimize rise time, settling time, and overshoot. The research methodology involves developing a mathematical model of the open-loop system using the System Identification Toolbox in MATLAB, optimizing PID values through the PID Tuner, and designing the fuzzy control system based on error and delta error. The open-loop system demonstrates performance metrics of rise time (Tr) 4.60 s, delay time (Td) 2.76 s, peak time (Tp) 6.50 s, settling time (Ts) 5.91 s, and overshoot (Mp) 1.29%. With PID control, the performance improves to rise time (Tr) 3.24 s, delay time (Td) 1.85 s, peak time (Tp) 10.00 s, settling time (Ts) 9.55 s, and overshoot (Mp) 0%. Furthermore, the fuzzy logic controller achieves superior results with rise time (Tr) 3.19 s, delay time (Td) 1.53 s, peak time (Tp) 4.64 s, settling time (Ts) 3.37 s, and overshoot (Mp) 0%.
STUDI ANALISIS PEMANFAATAN AIR GARAM SEBAGAI SUMBER ENERGI ALTERNATIF MENGGUNAKAN ELEKTRODA KARBON BATERAI BEKAS Fajri, Rahmat; Bachtiar, Antonov; Warmi, Yusreni; Effendi, Asnal; Premadi, Aswir; Al, Al; Dasman, Dasman
Ensiklopedia of Journal Vol 7, No 3 (2025): Vol. 7 No. 3 Edisi 1 April 2025
Publisher : Lembaga Penelitian dan Penerbitan Hasil Penelitian Ensiklopedia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33559/eoj.v7i3.3066

Abstract

This research is motivated by the current fact that the availability of energy sources on the earth continues to increase and the demand for energy continues to increase in line with the increasing demand for energy on earth. population growth. So the use of new renewable energy sources and environmentally sound is needed. This study aims to determine the voltage generated using used battery carbon electrodes and copper, the effect of used battery carbon electrodes and single copper wire on the resulting voltage and the effect of salt content on the resulting voltage capacity. From the research results, it is obtained that the carbon electrodes of used batteries and copper can generate voltage using a solution of salt water and sea water. The highest voltage in the salt water solution is 1965mV and the lowest voltage is 405mV. In seawater solution, the highest voltage is 2071mV and the lowest voltage is 1890mV. The effect of the electrode on the resulting voltage is whether or not the entire surface of the electrode is immersed so that it affects the resulting voltage. And the effect of salt content on the resulting stress is 10%, 5%, 3%, 2% and 37%. With successive voltages of 740mV, 1777mV, 1965mV, 1920mV and 2071mV. With this it can be concluded that the use of used battery carbon electrodes and single copper wire as a substitute for electrodes in generating voltage using an electrolyte solution of salt water and sea water can be used as an alternative energy source. Keywords: Salt Water, Alternative Energy, Used Carbon Electrodes, Copper Electrodes , Electrochemistry
PENGARUH KETINGGIAN DAN KECEPATAN DRONE QUADCOPTER TERHADAP AKURASI PENGUKURAN DATA CUACA BERBASIS SENSOR ANEMOMETER Dasman, Dasman; Ilhamda, Ilhamda; Alpajri, Robby; Al, Al; Premadi, Aswir
Jurnal Teknologi dan Vokasi Vol 3 No 2 (2025): Jurnal Teknologi dan Vokasi
Publisher : ITP Press

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21063/jtv.2025.3.2.136-140

Abstract

The use of drones as a weather monitoring system has seen significant progress, particularly in reaching difficult-to-access areas and collecting real-time atmospheric data. This study aims to analyze the effect of variations in drone altitude and flight speed on the accuracy of weather parameter measurements, such as temperature and wind speed, using an anemometer sensor. The experiment was conducted in an area located approximately 1,800 meters above sea level, by flying a quadcopter drone at altitudes of 50 m, 100 m, and 150 m above ground level. The results show that variations in flight speed affect the stability of wind measurements, while temperature shows high stability at various altitudes. This study confirms the potential of using UAVs to support direct weather observation systems as part of efficient disaster mitigation.
OPTIMALISASI SISTEM KENDALI HEXACOPTER Al, Al; Usmanto, Febri; Premadi, Aswir; Effendi, Asnal; Bachtiar, Antonov
Jurnal Teknologi dan Vokasi Vol 3 No 2 (2025): Jurnal Teknologi dan Vokasi
Publisher : ITP Press

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21063/jtv.2025.3.2.160-172

Abstract

This study aims to develop and analyze the performance of a hexacopter control system used in weather modification technology missions. Several control methods are applied, including PID, Fuzzy Mamdani, Fuzzy Sugeno, and Model Reference Adaptive Control (MRAC). The tests are conducted through simulations in MATLAB Simulink and Mission Planner, using step response parameters such as delay time, rise time, peak time, settling time, overshoot, and steady-state error as performance benchmarks. The results indicate that MRAC provides the most balanced performance in terms of speed and accuracy, Fuzzy Sugeno excels in response speed, while PID and Fuzzy Mamdani offer high stability.
PENINGKATAN PERFORMANSI MANUVER GERAKAN ROLL HEXACOPTER DENGAN METODA KENDALI PID ADAPTIF Al, Al; Premadi, Aswir; Effendi, Asnal; Alfith, Alfith; Dasman, Dasman; Syofian, Andi
Jurnal Teknologi dan Vokasi Vol 1 No 2 (2023): Jurnal Teknologi dan Vokasi
Publisher : ITP Press

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21063/jtv.2023.1.2.75-82

Abstract

In the Hexacopter flight control system, there are three very influential movements, namely Pitch, Roll and Yaw movements. Roll movement is very important to note because it affects the direction of the plane's flight. This movement is strongly influenced by the system's dynamic response to changes in hardware characteristics and the influence of changes in wind direction and speed from external systems. For this reason, this research is offered to implement a control system that can adapt to these dynamic disturbances. This study proposes the application of a proportional integral derivative (PID) control system, where constant values can adjust to dynamic changes in the system. These constant values can adjust to changes in errors and delta errors at any time. then a fuzzy logic controller (FLC) algorithm is applied, to make the constant values adaptable. The design of Fuzzification and Defuzzification is based on the maximum error and delta error limits. After real-plant testing, system performance is obtained as follows: settling time = 24mS; peak time 21mS; rise time = 9mS; delay time = 4.4mS; percent overshoot and steady state error = 1%.
Sistem Penyemprot Hexacopter Bertali (Tethered): Untuk Pertanian Presisi  Al, Al
Jurnal Teknologi dan Vokasi Vol 4 No 1 (2026): Jurnal Teknologi dan Vokasi
Publisher : ITP Press

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21063/jtv.2026.4.1.%p

Abstract

The implementation of Unmanned Aerial Vehicles (UAVs) in the agricultural sector has undergone a paradigm shift from passive monitoring to active functional intervention. However, limited battery autonomy and flight instability induced by dynamic payload variations remain critical bottlenecks for large-scale industrial adoption. This paper presents a systematic review of the evolution of agricultural UAVs, focusing on the emergence of tethered hexacopter systems (TKT-6) as a robust solution for persistent, long-duration missions in complex topographies. We synthesize high-impact research (2021–2025) covering high-voltage power transmission, umbilical cable dynamics, and advanced control architectures. A primary emphasis is placed on the transition from conventional PID frameworks to adaptive-robust control strategies. Comparative analysis reveals that the synergy between Disturbance Observers (DOB) and Sliding Mode Control (SMC) significantly mitigates attitude errors and suppresses the "anchor effect" caused by tether tension. Our findings demonstrate that the TKT-6 system effectively maintains positioning precision below 0.2 m even under time-varying payload conditions, offering a transformative approach for precision spraying in steep-terrain orchards, such as mangosteen cultivation.
Co-Authors Abdul Karim Alfith Alfith Alpajri, Robby Andi Syofian Antonov Bachtiar Asnal Effendi Aswir Premadi Dasman Dasman Fajrin, Fajrin Ilhamda, Ilhamda Madona, Maisyara Rahmat Fajri Rahmawati, Gusri Rizki Maulana, Rizki Saputra, Arifwindi Usmanto, Febri Yusreni Warmi