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All Journal Mechatronics, Electrical Power, and Vehicular Technology CommIT (Communication & Information Technology) EMITTER International Journal of Engineering Technology Jurnal ELTEK
Niam Tamami
Electronics Engineering Polytechnic Institute of Surabaya
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

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Journal : Mechatronics, Electrical Power, and Vehicular Technology

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Proportional Derivative Active Force Control for “X? Configuration Quadcopter Tamami, Niam; Pitowarno, Endra; Astawa, I Gede Puja
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 5, No 2 (2014)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (3066.116 KB) | DOI: 10.14203/j.mev.2014.v5.67-74

Abstract

This paper present a control method “x? configuration quadcopter. The control method used PDAFC (Proportional Derivative Active Force Control). PD is used to stabilize quadcopter, and AFC is used to reject uncertainty disturbance (e.g. wind) by estimate disturbance torque value of quadcopter. By adding PD with AFC, better result is obtained, AFC can minimize uncertainty disturbance effect. The sensitivity toward uncertainty disturbance can be set from sensitivity constant to get best performance of disturbance rejection. Stability analysis of PDAFC was evaluated by Lyapunov stability theory.
Co-Authors Abd. Rasyid Syamsuri Azhar, Rizqi Fauzil Endra Pitowarno Hanafi, Nofria Hendhi Hermawan I Gede Puja Astawa Madyono, Madyono Perdana, Galang Prakoso, Bagas Mardiasyah Prima Kristalina Ramadhan, Farhan