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All Journal Angkasa: Jurnal Ilmiah Bidang Teknologi Aviation Electronics, Information Technology, Telecommunications, Electricals, and Controls (AVITEC) JPM: JURNAL PENGABDIAN MASYARAKAT Electrician : Jurnal Rekayasa dan Teknologi Elektro
Pranita, Elka
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Aerospace Engineering Humanities Astronomy Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Education Electrical & Electronics Engineering Engineering Environmental Science Industrial & Manufacturing Engineering Languange, Linguistic, Communication & Media Materials Science & Nanotechnology Medicine & Pharmacology Public Health Social Sciences Transportation Other

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Implementation of Kalman Filter on PID Based Quadcopter for Controlling Pitch Angle Dalimunthe, Ernando Rizki; Ananda, Novan Dwiki; Sembiring, Jaka Persada; Faidar, Muhammad Anwar Sadat; Pranita, Elka; Jayadi, Akhmad; Putri, Novia Utami
Aviation Electronics, Information Technology, Telecommunications, Electricals, and Controls (AVITEC) Vol 7, No 1 (2025): February
Publisher : Institut Teknologi Dirgantara Adisutjipto

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.28989/avitec.v7i1.2743

Abstract

Improving quadcopter control systems poses significant challenges in unmanned flight technology development. Key issues include the intricate nature of PID and Kalman filter parameter settings, necessitating profound knowledge of system dynamics and sensor properties. Furthermore, successfully integrating the Kalman Filter with PID control demands meticulous coordination to optimize state estimation precision and system responsiveness. This research emphasizes the incorporation of the Kalman filter into PID-based control for quadcopter pitch angle regulation. The Proportional-Integral-Derivative (PID) approach governs pitch angle, augmented by the Kalman Filter, to enhance estimation accuracy and mitigate sensor uncertainty. Optimal outcomes during system response testing were achieved with parameters of Kp at 2.95, Ki at 0.23, and Kd at 0.02, resulting in superior oscillatory response, including a 9-degree overshoot, a 5-second rise time, a 15-second settling time, and a 0.15-degree steady-state error, showcasing effective regulation of the quadcopter pitch angle. A concurrent observation during testing indicated that including the Kalman filter led to a significantly reduced overshoot compared to tests without it; conversely, the settling time experienced considerable acceleration, while measurement accuracy in the steady-state condition improved by 50%.
Co-Authors Adam Wisnu Murti Ade Candra, Ade Akhmad Jayadi Ananda, Novan Dwiki Apriyanto, Agus Arif Maulana, Arif Dalimunthe, Ernando Rizki Faidar, Muhammad Anwar Sadat fatullah, farid farhan Febrihadi, Ahmad Fauzan fernandes, alexander ferdi Hardianto, muhammad andre Ibrahim, Fauzi Jaka Persada Sembiring Lie Jasa Novia Utami Putri Nurrohman , Fatkhur Pala, Nanda Dana Riskiono, Sampurna Dadi Tohir, Ahmat