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All Journal Mechatronics, Electrical Power, and Vehicular Technology EMITTER International Journal of Engineering Technology Journal of Ocean, Mechanical and Aerospace -science and engineering- (JOMAse) Jurnal ELTEK
Endra Pitowarno
Electronics Engineering Polytechnic Institute of Surabaya
Aerospace Engineering Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Mechanical Engineering

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Journal : EMITTER International Journal of Engineering Technology

 1 
A Combination of PD Controller and PIAFC for Stabilization of “x” Configuration Quadcopter Pitowarno, Endra; Astawa, I Gede Puja; Tamami, Ni’am
EMITTER International Journal of Engineering Technology Vol 2, No 1 (2014)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

This paper presents a stabilization control method for “x” configuration quadcopter. The control method used the combination of PD (Proportional Derivative) controller and PIAFC (Proportional Integral Active Force Control). PD is used to stabilize quadcopter, and PIAFC is used to reject uncertainty disturbance (e.g. wind) by estimating disturbance torque value of quadcopter. The PD with PIAFC provided better result where PIAFC could minimize uncertain disturbance effect. The simulation has successfully give comparation about controller performance (PD, PD-AFC, PD-PIAFC) by calculate RMS (Root Mean Square) value. PD with AFC gives better result than PD. AFC optimization using PI (PD-PIAFC) give best result if compared with PD or PD-AFC. PD-PIAFC has lowest RMS value of result control signal, 0.0389 for constant disturbance and 0.1008 for fluctuated disturbance.Keywords:“x” configuration quadcopter, stability, PD, PIAFC.
A Combination of PD Controller and PIAFC for Stabilization of “x” Configuration Quadcopter Tamami, Niam; Pitowarno, Endra; Astawa, I Gede Puja
EMITTER International Journal of Engineering Technology Vol 2, No 1 (2014)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v2i1.13

Abstract

This paper presents a stabilization control method for “x” configuration quadcopter. The control method used the combination of PD (Proportional Derivative) controller and PIAFC (Proportional Integral Active Force Control). PD is used to stabilize quadcopter, and PIAFC is used to reject uncertainty disturbance (e.g. wind) by estimating disturbance torque value of quadcopter. The PD with PIAFC provided better result where PIAFC could minimize uncertain disturbance effect. The simulation has successfully give comparation about controller performance (PD, PD-AFC, PD-PIAFC) by calculate RMS (Root Mean Square) value. PD with AFC gives better result than PD. AFC optimization using PI (PD-PIAFC) give best result if compared with PD or PD-AFC. PD-PIAFC has lowest RMS value of result control signal, 0.0389 for constant disturbance and 0.1008 for fluctuated disturbance.Keywords:“x” configuration quadcopter, stability, PD, PIAFC.
Co-Authors Dewanto, R. Sanggar Eka Samsul Maarif Hilmi, Wildan I Gede Puja Astawa Kamarudin Kamarudin Niam Tamami Ni’am Tamami, Ni’am Purnomo, Didik Setyo Rusminto Tjatur Widodo Satria, Novian Fajar Sugianto, Cahyo Tamami, Ni’am Tamara, Mohamad Nasyir Utomo, Eko Budi