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All Journal MATHunesa: Jurnal Ilmiah Matematika Journal of Data Insights
SALMAA
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Computer Science & IT Mathematics

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ANALISIS KESTABILAN GERAK DIAGONAL PADA QUADROTOR MENGGUNAKANKONTROL PID SALMAA
MATHunesa: Jurnal Ilmiah Matematika Vol 5 No 3 (2017)
Publisher : Universitas Negeri Surabaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (826.644 KB)

Abstract

Quadrotor adalah pesawat tanpa awak dengan empat rotor independen yang dipasang saling silang. Pengendalian pada masing-masing rotor dibutuhkan agar quadrotor dapat terbang sesuai dengan kebutuhan. Pengendalian rotor pada baling-baling diperlukan agar quadrotor dapat bergerak vertikal, lateral, longitudinal, dan diagonal. Penelitian Baroro dan Fuad (2016) telah dikaji tipe kestabilan pada quadrotor bertipe + dengan modus gerak vertikal, yawing, longitudinal, dan lateral. Penelitian tersebut tidak mengkaji gerak diagonal quadrotor. Dalam penelitian ini direkontruksi model gerak diagonal quadrotor selanjutnya dilakukan linierisasi, serta diterapkan kontrol PID pada sistem dinamik dengan gain kontrol proporsional 14KP,"> kontrol integral 14KI"> dan kontrol derivatif 14KD"> . Nilai 14KP,KI,"> dan 14KD"> ditentukan menggunakan kriteria Routh-Hurwitz agar model gerak diagonal selalu stabil. Gerak diagonal bidang 14X+OZ+,"> bidang 14 X-OZ+"> , bidang 14 Y+OZ+,"> dan bidang 14Y-OZ+"> stabil jika dipenuhi 140<KP<10513,"> 14KI>0 "> dan 14KD<7680"> . Gerak diagonal di atas bidang 14X+OY+,"> di atas bidang 14X+OY-,"> di atas bidang 14X-OY-,"> dan di atas bidang 14X-OY+"> stabil jika memenuhi 14KP>0"> , 14KI>0"> dan 14KD>-1520"> . Kata Kunci: Quadrotor, pemodelan matematika, kriteria Routh-Hurwitz, kontrol PID, stabil asimtotik.
Implementation of Hierarchical Clustering for Grouping Economic Development Indicators in Central Java Province: Penggunaan Clustering Hierarki Untuk Pengelompokan Indikator Pembangunan Ekonomi di Provinsi Jawa Tengah Salmaa; Asyfani, Yusrisma; Manfaati Nur, Indah
Journal of Data Insights Vol 3 No 1 (2025): Journal of Data Insights
Publisher : Department of Sains Data UNIMUS Universitas Muhammadiyah Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26714/jodi.v3i1.298

Abstract

In the midst of global economic shifts, the economy in Indonesia must continue to improve. To help economic recovery after the contraction caused by the COVID-19 pandemic, the Indonesian government has implemented various policies. One way is through the process of increasing per capita income over a long period of time, known as economic development, provided that the number of people living below the absolute poverty line does not increase and income distribution does not decrease. Other efforts can be made by analyzing economic development indicators. One method that can be used is hierarchical cluster analysis to group economic development indicators in Central Java province. Average linkage is used as an approach method after carrying out correlation analysis of the five approaches in hierarchical analysis because the correlation value is the highest. From this analysis two clusters were produced with the first cluster having higher characteristic values compared to the second cluster.
Co-Authors Asyfani, Yusrisma Manfaati Nur, Indah