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Andi Dharmawan

Departemen Ilmu Komputer dan Elektronika, FMIPA UGM, Yogyakarta

Author-ID : 2898891

Electrical & Electronics Engineering

Published : 5 Documents Claim Missing Document

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Pengendalian Kestabilan Ketinggian pada Penerbangan Quadrotor dengan Metode PID Fuzzy Panca Agung Kusuma; Andi Dharmawan
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 7, No 1 (2017): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Quadrotor is a kind of unmanned aerial vehicle that have the ability to take of vertically and maintaining its position while flying mid-air. Flying a quadrotor sometimes needs a stable altitude to perform a specific mission. A stable altitude will make easier for pilot to control the movement of the quadrotor to certain direction.This study designed and implemented a system that can stabilises the altitude of a quadrotor by using Fuzzy-PID method. Altitude control system needed to help pilot controls the altitude stability without adjusting the throttle. Control with PID method is a common control system to be implemented on a quadrotor. This control system has a constant that can be tuned with fuzzy logic with linguistic approach to improve the response time when compensating an error. The result of this study shows that Fuzzy PID control method generate a better response time compared with the PID-only method. The implementation of PID control generate an altitude stabilisation with a mean value steady state error of ±1,86 cm, whereas the PID Fuzzy generate a mean value of steady state error of ±1,22 cm.

Optimasi Kendali PID menggunakan Algoritma Genetika untuk Penerbangan Quadrotor Khalaqas Hakiim; Andi Dharmawan; Faizah Faizah
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 7, No 2 (2017): October
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Quadrotor is square-form unmanned aerial vehicle (UAV) type with four motor in each arms. Quadrotor has ability to take-off and landing vertically. This research designs and creates a system that capable to stabilize the quadrotor flight also able to maintain roll, pitch and yaw angle using PID controller optimized by genetic algorithm, one of evolutionary algorithms.PID is a common applied controller including to control the quadrotor. Tunning or setting PID parameter process is needed to obtain fit PID parameters. Tunning is very important to reach quadrotor flight stability. This research applies Ziegler-Nichols tunning to obtain PID parameters. Then the PID parameters will be a reference for genetic algorithm optimization process to obtain the suitest PID parameter to control roll, pitch ,and yaw angle.Optimization process result show quadrotor controller capable to reach stability with steady state error for pitch angle in range 2,34 degree conterclockwise to 3,37 degree clockwise, for roll angle in range 2,99 degreee counterclockwise to 2,27 degree clockwise, and for yaw angle in range 8,39 degree counterclockwise to 3,89 degree clockwise.

Sistem Kendali Gimbal 2-Sumbu Sebagai Tempat Kamera Pada Quadrotor Menggunakan PID Fuzzy M Saiful Haris; Andi Dharmawan; Catur Atmaji
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 7, No 2 (2017): October
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

The function of camera gimbal control system that use in this research is to serves with the angle changes that occur due quadrotor maneuver. The PID control with tuning classical method has weakness, which is the PID variable not independently adjust to the environment, thus proposed using PID fuzzy control.Gimbal camera used in this study has a mechanical design with two joint (pitch and roll) and the BLDC motor as actuator. The angle changes that occur in the pitch and roll axis will be a feedback system. Then, fuzzy logic will tune the PID variable based on that feedback.Results of testing the system on 2-axis gimbal camera shows the PID fuzzy control generates better response in parameter risetime, overshoot, and settlingtime compared with PID control. Error input value range of [-30° 30°] and delta error of [-10° 10°] on the pitch and roll axes. The range of the output value for the pitch axis is, Kp at [40.2 46.2], Ki at [10.7 20.7], and Kd of [0.05 to 0.15]. The range of the output value for the roll axis is, Kp at [6.4 16.4], Ki at [17.3 to 27.3], and Kd at [0.08 0.16]. Speed response speed of pitch axis is 0.12 second and the roll axis is 1.07 seconds.

Sistem Kendali Penghindar Rintangan Pada Quadrotor Menggunakan Konsep Linear Quadratic Ariesa Budi Zakaria; Andi Dharmawan
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 7, No 2 (2017): October
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Quadrotor is one of UAV (Unmanned Aerial Vehicle) rotary wing aircraft type. Quadrotor has been widely used for various needs to military or civilian. Quadrotor can be operated manually by remote or autonomously. One of the difficulties of quadrotor operations is to avoid the obstacles before autonomous flying towards destination point. Therefore, an obstacle avoidance control system is required on quadrotor systems. Linear Quadratic Regulator is a control system that produces an input value system from state value and feedback. State value is produced from translation and rotation. That input value then converted into pulse width modulation to control the speed of the brusless motor, and it's used to do obstacles avoidance manouver.This method might reduce overshoot on the system and make response time (rise time) arrived faster than other methods. The obstacle avoidance system requires small overshoot value and an appropriate response time to avoid frictions or collisions. The result of this research is the rise time to avoid obstacles that reached 4,7 second with flight speed of 0,6 m/s and turns for roll angle equal to 14,27 °, pitch equal to 13,26 °, and yaw equal to 9,87 ° while avoidance maneuvering obstacles.

Klasifikasi Gerakan Jari Tangan Berdasarkan Sinyal Electromyogram Pada Lengan Catur Atmaji; Yusuf Waraqa Santoso; Roghib Muhammad Hujja; Andi Dharmawan; Danang Lelono
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 11, No 1 (2021): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/ijeis.60741

An electromyogram is a recording of muscle activity. These signals have been used both for medical diagnosis and engineering such as finger motion detection in healthy people and rehabilitation patients. Many studies have been conducted to map the relationship between electromyogram and finger movements, one of which is the relationship between the number of channels used and the complexity of the system. The number of channels used is directly proportional to the complexity of a system. The more complex the system, the heavier the data processing is so that it requires greater resources. Therefore, this study focuses on the construction of a classification system for human finger movements using fewer channels. The number of channels used in this study is 4. Root Mean Square is applied in a sliding window as feature extraction. The classifier used is the artificial neural network. System validation is done with 10-fold cross-validation. The test results of the average accuracy value for the thumb, index finger, middle finger, ring finger, little finger, grip, and relaxation were 89%, 90%, 93%, 95%, 93%, 94%, and 91% respectively which can be said to be quite good considering the number of channels relatively few compared to previous studies.

Co-Authors Ariesa Budi Zakaria Catur Atmaji Faizah Faizah Khalaqas Hakiim M Saiful Haris Panca Agung Kusuma Roghib Muhammad Hujja Yusuf Waraqa Santoso

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